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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Add Expression Costs and Formula Constraints to EdgesBetweenSubgraphs in GcsTrajectoryOptimization #22155

Closed cohnt closed 1 week ago

cohnt commented 2 weeks ago

Towards #21981. Adds placeholder variables to EdgesBetweenSubgraphs that can be used to construct costs and constraints to each edge.

+@russtedrake for feature review, please! cc @wrangelvid

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