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Published 20 hours ago • verified publisher icon tesseract-robotics

Implement QuadExpr Constraints

Open mpowelson opened this issue 6 years ago • 2 comments

As noted in modelling.hpp, only affine constraints are currently implemented. I don't know what the implications of this are, put intuitively it would be nice to (for instance) but a constraint on velocity^2.

mpowelson avatar Nov 27 '18 21:11 mpowelson

I remember pointing this out already, but please keep in mind that among the supported solvers only GUROBI allows for quadratic constraints, we would need to implement a QCP/QCQP/SOCP solver, I think especially the latter would be useful to have in the long-run.

arocchi avatar Dec 07 '18 21:12 arocchi

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 were refactoring the joint constraints. I imagine Levi would be open to suggestions.

mpowelson avatar Dec 07 '18 22:12 mpowelson