Switch `shared_ptr<T>` for `polymorphic<T>` for several classes

Simple-Robotics / aligator

A versatile and efficient framework for constrained trajectory optimization

https://simple-robotics.github.io/aligator/

BSD 2-Clause "Simplified" License

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Open edantec opened 1 month ago

edantec commented 1 month ago

A PR to discuss how we integrate polymorphism with value semantics (instead of smart pointers) into Aligator.

This PR is a follow-up to Simple-Robotics/proxsuite-nlp/pull/90 which does this for manifold types.

ManifoldFR commented 1 month ago

Great work @edantec.

On my end I think I can fix the Python bindings soon enough.