Parallelize the Rounding Stage of GCS

RobotLocomotion / drake

Model-based design and verification for robotics.

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Parallelize the Rounding Stage of GCS #22222

Open cohnt opened 1 day ago

cohnt commented 1 day ago

This ended up being pretty simple -- solve all the restrictions in a parallel for loop, and override options.parallelism to set the number of threads to one if any not-thread-safe costs or constraints are included in the GCS.

Gonna test this with the various debug builds before I send it up for review.

This change is

cohnt commented 1 day ago

@drake-jenkins-bot linux-jammy-clang-bazel-experimental-thread-sanitizer please @drake-jenkins-bot linux-jammy-clang-bazel-experimental-valgrind-memcheck please @drake-jenkins-bot linux-jammy-clang-bazel-experimental-undefined-behavior-sanitizer please @drake-jenkins-bot linux-jammy-clang-bazel-experimental-address-sanitizer please