Add convex_solver_settings to TrajOptIfoptDefaultSolverProfile #425
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rjoomen
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Mmm, this needs the SQPStatus::TIME_LIMIT fix from TrajOpt. |
rjoomen
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I am going to take a look and see if this can be generalized so solver specific types do not have to go in the profile. Maybe use std::Any or tesseract_common::AnyPoly and maybe updated some of the interface to have setSetttings or something similar. |
rjoomen
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@rjoomen sorry, I have not had time to look into this. Would you have time to investigate a solution to avoid having to include osqp in the profile? |
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #425 +/- ##
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Coverage 85.77% 85.77%
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Files 229 229
Lines 15205 15205
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Hits 13042 13042
Misses 2163 2163 |
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I'll look into it. |
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…faultSolverProfile - Added handling of convex_solver_settings to trajopt_ifopt_motion_planner
Levi-Armstrong
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@rjoomen I made some changes and will get this merged today. |
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Levi-Armstrong
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tesseract-robotics:master
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Great, thanks! |
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TODO: If this PR is accepted, OSQPEigenSolver_setSettings() should be made a member of trajopt_sqp::OSQPEigenSolver (but that is another repo, hence it is for now included here)
Closes tesseract-robotics/trajopt#367