Add Generic Binding<Cost> and Binding<Constraint> to vertices and edges within a GcsTrajectoryOptimization::EdgesBetweenSubgraphs

RobotLocomotion / drake

Model-based design and verification for robotics.

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Add Generic Binding<Cost> and Binding<Constraint> to vertices and edges within a GcsTrajectoryOptimization::EdgesBetweenSubgraphs #22199

Open cohnt opened 6 days ago

cohnt commented 6 days ago

Closes #21981.

This PR builds off of #22179, so let's hold off on feature review until that lands. (I'll update this branch based on any changes made to that PR before it merges.)

This change is

cohnt commented 3 days ago

Now that #22179 has gone to platform review, let's go ahead and start feature review here.

+@RussTedrake, let's finish this chain of PRs off?