Kinematic Trajectory Optimization

[kamiradi]

This PR aims to transcribe a basic Kinematic Trajectory Optimization problem from Moveit to Drake

• [ ] Overload the PlannerManager class
• [ ] Overload the PlanningContext class
• [ ] Implement a ktopt_interface class
• [ ] Implement an example demo to test and integrate the above classes

PS: this is a draft, and the work may be split over a sequence of PRs

[kamiradi]

@sea-bass, My rebase skills are absolutely novice. I don't know what I should be doing.

I started with doing a git rebase main on the ktopt branch, resolving all merge conflicts. Now I have a set of unpulled commits that reflect the old branch, and a set of unpushed commits that reflects the rebased branch. Should I create a new pull request on a new branch reflecting the rebased ktopt?

[sjahr]

@sea-bass, My rebase skills are absolutely novice. I don't know what I should be doing.

I started with doing a git rebase main on the ktopt branch, resolving all merge conflicts. Now I have a set of unpulled commits that reflect the old branch, and a set of unpushed commits that reflects the rebased branch. Should I create a new pull request on a new branch reflecting the rebased ktopt?

@kamiradi I think the easiest way to do this wouldn't be to address the merge conflicts but rather drop the commits that are already merged into main. You could either do this by using

git rebase -i origin/main

and remove all commits except

• [WIP] adds ktopt header and src files
• [WIP] ktopt initial changes
• [WIP] adds plugin to CMakeLists

or

1. Create a new temporary branch based on current main
2. Cherry-pick the kopt commits (I guess the ones above)
3. Reset the kopt branch to your temporary branch
4. Force push to github
5. Delete tmp

Whatever you do, make sure you create a backup of this current version of this branch e.g. by doing git checkout -b kopt_backup locally on this branch