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declare sparsity patterns for nonlinear constraints in KinematicTrajectoryOptimization #22602

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RussTedrake opened this issue Feb 9, 2025 · 0 comments
Open

declare sparsity patterns for nonlinear constraints in KinematicTrajectoryOptimization #22602

RussTedrake opened this issue Feb 9, 2025 · 0 comments
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@RussTedrake
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component: planning and control Optimization-based planning and control, and search- and sampling-based planning priority: medium type: feature request

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@RussTedrake
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As discussed with @hongkai-dai ... we can make the new formulation of the constraints much more efficient (e.g. for Snopt) using SetSparsityPattern.
@RussTedrake RussTedrake self-assigned this Feb 9, 2025
@rpoyner-tri rpoyner-tri added the component: planning and control Optimization-based planning and control, and search- and sampling-based planning label Feb 11, 2025
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component: planning and control Optimization-based planning and control, and search- and sampling-based planning priority: medium type: feature request
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