Add toleranced waypoints to TrajOpt Solver #403
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marrts
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #403 +/- ##
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+ Coverage 85.76% 85.78% +0.02%
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Files 220 222 +2
Lines 14792 15031 +239
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+ Hits 12687 12895 +208
- Misses 2105 2136 +31 |
Levi-Armstrong
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Mar 2, 2024
..._motion_planners/trajopt/include/tesseract_motion_planners/trajopt/trajopt_waypoint_config.h
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Levi-Armstrong
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Mar 5, 2024
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@marrts Can you rebase on the latest? Also, please squash merge after CI passes. |
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I don't have merge privileges when it fails. Also, there are still lingering clang-tidy issues unrelated to this PR that we should probably make an issue about. |
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Levi-Armstrong
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In conjunction with this PR in TrajOpt. This allows users to set tolerances on Cartesian and joint waypoints. Additionally you can now set both costs and constraints for waypoints so you can drive the solver to match the waypoint exactly while enforcing strict limits that are nonzero on where the waypoint can actually move.
This is a breaking change because it changes the interface for the TrajOpt default plan profile.
I think this new interface would also be useful for the TrajOpt IFOPT work that is going on.