[trajoptlib] Add max friction force constraint

SleipnirGroup / Choreo

A graphical tool for planning time-optimized trajectories for autonomous mobile robots in the FIRST Robotics Competition.

BSD 3-Clause "New" or "Revised" License

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Closed oh-yes-0-fps closed 2 weeks ago

oh-yes-0-fps commented 2 weeks ago

It doesn't appear to have a substantial impact of trajectories but it never urts to have.

oh-yes-0-fps commented 2 weeks ago

This also appears to have no substantial impact on performance when using a typical COF, tested against beta-6