Matthew Powelson

I should note, that we should do it for both sets of collision terms, trajopt (to be deprecated soon?) and trajopt_ifopt!

Big things I can think of are #192 and #193. Smaller issues, we are missing the dynamic cartesian constraint as well as joint acceleration. There are probably other things that...

Other possible performance improvements. - [x] Test out other linear solvers. OSQP supports [MKL Parsido](https://osqp.org/docs/interfaces/linear_systems_solvers.html#linear-system-solvers-setting). "MKL Pardiso is an efficient multi-threaded linear system solver that works well for large scale...

Yes, trajopt_ifopt + trajopt_optimizers was intended as a successor to trajopt + trajopt_sco. It was intended to make the creation of the problem and the solver used more separate so...

That's good to know. That probably explains why it hadn't been done yet. As far as the other solvers, that's outside of my area. This just came up when we...

Cartesian velocity should minimize cartesian path length as it just assumes the timestep is 1. That said, I have not personally used it too much. It looks like the coeffs...

@gavanderhoorn Yes, with the exception of #55 , they should all work with the latest of Trajopt/Tesseract. I get an Eigen error on basic_carteisan (#27 ), but it seems like...

Try #73. I ran all of the examples with that, and they all ran except basic_cartesian (which has not worked for me in long time)

Ah. I knew there was something else I wanted to fix. I'll fix that too.

This should be relatively straightforward. See the plot functions in the old trajopt implementation. You can also look at how the other callbacks work in relation to their old trajopt...