Port TrajOptIfopt weighted average for collision cost/constraint to legacy version to allow comparison for debug.

tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS

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Open Levi-Armstrong opened 9 months ago

Levi-Armstrong commented 9 months ago

@rjoomen Do you have any plans on tackling this?

rjoomen commented 9 months ago

Sure, I'm willing to look into this. You already moved the relevant TrajoptIfopt methods to common, but I don't really know where to start in legacy Trajopt. Could you give me some pointers as to how to proceed?

Levi-Armstrong commented 9 months ago

Yea, I will take a look.