trajopt

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CMake issue with `jsoncpp_lib` ALIAS target

3

The following line fails for me with CMake 3.16.3, resulting in the error: `add_library cannot create ALIAS target "jsoncpp_lib" because target "JsonCpp::JsonCpp" is imported but not globally visible.` https://github.com/tesseract-robotics/trajopt/blob/ac685dc2fc8d7050d54a7b6fce40422374f81ff5/trajopt_sco/cmake/trajopt_sco-config.cmake.in#L15 This...

marip8

Toleranced cartesian waypoints added to Trajopt in [this PR](https://github.com/tesseract-robotics/trajopt/pull/354) should also be added to trajopt_ifopt (as the latter is meant to be the eventual replacement of Trajopt).

rjoomen

Added extra logging to trajopt_sqp to match the output of trajopt_sco

2

rjoomen

I found another TrajOptIfopt-related issue: tesseract_planning still has [adaptive rho switched off](https://github.com/tesseract-robotics/tesseract_planning/blob/master/tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp#L106), whereas some time ago the default was supposedly changed to true for [TrajOpt](https://github.com/tesseract-robotics/trajopt/blob/master/trajopt_sco/src/osqp_interface.cpp#L30) and [TrajOptIfopt](https://github.com/tesseract-robotics/trajopt/blob/master/trajopt_optimizers/trajopt_sqp/src/osqp_eigen_solver.cpp#L43). I have a...

rjoomen

Discrete collision check setting

3

Shouldn't `is_continuous` be false [here](https://github.com/tesseract-robotics/trajopt/blob/master/trajopt_ifopt/src/constraints/collision/continuous_collision_evaluators.cpp#L351), as it is the `LVSDiscreteCollisionEvaluator`?

rjoomen

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

4

Levi-Armstrong

The multi threaded version does use more memory which is expected with the use of thread local but the number of allocations look similar. I think further investigation is needed....

Levi-Armstrong

Logging was causing segfaults in `numerical_ik_unit.cpp` and `simple_collision_unit.cpp` unit tests on Windows. The logging has been disabled by commenting out `gLogLevel = util::LevelDebug;` in the test fixtures. See https://github.com/tesseract-robotics/trajopt/actions/runs/5300211470/jobs/9593645305 for...

johnwason

Ifopt required the constraint/cost size to not change which is only an issue currently for the collision constraints and cost. There maybe an issue when the number of contacts is...

Levi-Armstrong

Most if not all support just updating lower and upper bounds and resolving without recreating the problem. Though currently the problem is recreated and should be updated so this does...

Levi-Armstrong