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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
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Initialization refactor #347

Closed danbarla closed 2 years ago

danbarla commented 2 years ago

This PR refactors the initialization of the factor graphs. All functions which were in initialize_solution_utils.cpp are now part of Initializer class which is given as input to the trajectory. Should make life easier when different types of initializations are needed.

varunagrawal commented 2 years ago

FYI CI will be resolved once we merge in #348

danbarla commented 2 years ago

@dellaert ok to merge?

dellaert commented 2 years ago

Sure, merge at will!