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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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Add collision callback to trajopt_sqp #192

Open mpowelson opened 4 years ago

mpowelson commented 4 years ago

Address this. https://github.com/ros-industrial-consortium/trajopt_ros/blob/9360773d3dd672e5d698ba9535d60fbd338348e1/trajopt_optimizers/trajopt_sqp/src/callbacks/collision_plotter.cpp#L39

mpowelson commented 4 years ago

This should be relatively straightforward. See the plot functions in the old trajopt implementation. You can also look at how the other callbacks work in relation to their old trajopt implementation

https://github.com/ros-industrial-consortium/trajopt_ros/blob/9360773d3dd672e5d698ba9535d60fbd338348e1/trajopt/src/collision_terms.cpp#L985

Srujan-D commented 4 years ago

Hey! I'd like to work with this issue!

cardboardcode commented 4 years ago

Hi @gavanderhoorn, may I get your help in assigning @Srujan-D to this issue?

I am unable to do so due to lack of ownership for this particular repository.

gavanderhoorn commented 4 years ago

I've created the team and added @Srujan-D. He/she will have to accept the invitation though before the issue can be assigned.

Srujan-D commented 4 years ago

Yep, received and accepted the invite. Thanks for your help @cardboardcode and @gavanderhoorn !

mpowelson commented 4 years ago

@Srujan-D If you need any help let us know. Thanks for working on this!

gavanderhoorn commented 4 years ago

@mpowelson: he was in a time-zone which made it difficult to wait on you guys.

@Srujan-D then asked to try and work on something else.

mpowelson commented 4 years ago

Ah. That's fine then.