Python bindings for methods of GcsTrajectoryOptimization::Subgraph for adding generic costs and constraints. #22156
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Hi @cohnt, is this PR ready to be reviewed yet? (asking per https://drake.mit.edu/platform_reviewer_checklist.html) |
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Yes, I need a feature reviewer. I asked in slack, but didn't get any responses yet. |
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I see @sadraddini lurking in this PR. Would you like to review it? If not, I'll kick this PR to Russ to review/delegate per platform reviewer checklist. |
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Per Jeremey's comment in the Drake Developers Slack, since this is just adding python bindings, we can send this directly to platform review. So @xuchenhan-tri for review, please! |
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Reviewed 2 of 2 files at r1, all commit messages.
Reviewable status: 2 unresolved discussions
bindings/pydrake/planning/planning_py_trajectory_optimization.cc line 435 at r1 (raw file):
-> const MatrixX<symbolic::Variable> { return self.vertex_control_points(); },
What's the point of the const qualifier if we are returning a copy?
Ditto for the same pattern below.
Suggestion:
[](const GcsTrajectoryOptimization::Subgraph& self)
-> MatrixX<symbolic::Variable> {
return self.vertex_control_points();
},bindings/pydrake/planning/test/trajectory_optimization_test.py line 365 at r1 (raw file):
regions.AddEdgeCost(edge_cost) regions.AddEdgeConstraint(edge_constraint)
We should add some tests that exercises the keyword arguments (with and without the default arg).
…r adding generic costs and constraints.
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There was a problem hiding this comment.
Reviewable status: 2 unresolved discussions
bindings/pydrake/planning/planning_py_trajectory_optimization.cc line 435 at r1 (raw file):
Previously, xuchenhan-tri wrote…
What's the point of the const qualifier if we are returning a copy?
Ditto for the same pattern below.
Done.
bindings/pydrake/planning/test/trajectory_optimization_test.py line 365 at r1 (raw file):
Previously, xuchenhan-tri wrote…
We should add some tests that exercises the keyword arguments (with and without the default arg).
Like so?
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Reviewed 2 of 2 files at r2, all commit messages.
Reviewable status:complete! all discussions resolved, LGTM from assignee xuchenhan-tri(platform)
bindings/pydrake/planning/test/trajectory_optimization_test.py line 365 at r1 (raw file):
Previously, cohnt (Thomas Cohn) wrote…
Like so?
Yes, thank you!
Towards #21981. Adds python bindings to the methods introduced in #22091.
This change is