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mpetersen94 / gcs

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Turn edges off instead of removing during preprocessing #31

Closed mpetersen94 closed 2 years ago

mpetersen94 commented 2 years ago

With fix to GraphOfConvexSets that excludes edges that are turned off from the optimization, this is as fast as removal and allows the graph to be reused without rebuilding.

mpetersen94 commented 2 years ago

Do not merge until Drake has the fix to GraphOfConvexSets merged.