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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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Move TrajOptIfopt collision gradient types and utils to trajopt_common package #350

Closed Levi-Armstrong closed 10 months ago

Levi-Armstrong commented 10 months ago

@rjoomen

rjoomen commented 10 months ago

Looks good! I've done some testing, and this works with the Ifopt version of the basic_cartesian_example. But when fixing a mistake in my Ifopt adaptation of the car_seat_example, I got a crash, both in this branch and in the old version. I have tracked it down to this line, where the hinge_costs_.GetValues() fails for "LVSDiscreteCollision_10". I'm unsure what causes this, though.

rjoomen commented 10 months ago

I think you can merge this. And tesseract_planning needs only minor modifications to support this.