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BsplineTrajectory::AsLinearInControlPoints() #22533

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RussTedrake opened this issue Jan 26, 2025 · 0 comments · Fixed by #22552
Closed

BsplineTrajectory::AsLinearInControlPoints() #22533

RussTedrake opened this issue Jan 26, 2025 · 0 comments · Fixed by #22552
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component: planning and control Optimization-based planning and control, and search- and sampling-based planning priority: low type: feature request

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RussTedrake commented Jan 26, 2025 •
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KinematicTrajectoryOptimization (and other codes) make use of BsplineTrajectory, but have continued to use symbolic computations to reason about the linearity of the derivatives. Admittedly, that linearity is a tangled, convoluted mess. But we should eventually implement it correctly.

We already have BezierCurve::AsLinearInControlPoints(), and we should have the same (or whatever it's natural equivalent is) for BsplineTrajectory.

The victory condition for this also includes removing all of symbolic variable bspline computations we have accumulated.

Related to #22500, which would add even more of this symbolic computation if we don't resolve this.
@RussTedrake RussTedrake added component: planning and control Optimization-based planning and control, and search- and sampling-based planning priority: low type: feature request labels Jan 26, 2025
@RussTedrake RussTedrake self-assigned this Jan 26, 2025
RussTedrake added a commit to RussTedrake/drake that referenced this issue Jan 26, 2025
@RussTedrake
Implements BsplineTrajectory::AsLinearInControlPoints()
91c2d5c 
Resolves RobotLocomotion#22533.
@RussTedrake RussTedrake mentioned this issue Jan 26, 2025
Closed
RussTedrake added a commit to RussTedrake/drake that referenced this issue Jan 27, 2025
@RussTedrake
Implement Bspline "linear in control points" logic
f408440 
For BsplineBasis and BsplineTrajectory.

Towards RobotLocomotion#22533 which is towards RobotLocomotion#22500.
RussTedrake added a commit to RussTedrake/drake that referenced this issue Jan 27, 2025
@RussTedrake
Implement Bspline "linear in control points" logic
9e92647 
For BsplineBasis and BsplineTrajectory.

Towards RobotLocomotion#22533 which is towards RobotLocomotion#22500.
RussTedrake added a commit to RussTedrake/drake that referenced this issue Jan 27, 2025
@RussTedrake
Implement Bspline "linear in control points" logic
245e782 
For BsplineBasis and BsplineTrajectory.

Towards RobotLocomotion#22533 which is towards RobotLocomotion#22500.
RussTedrake added a commit to RussTedrake/drake that referenced this issue Jan 27, 2025
@RussTedrake
Implement Bspline "linear in control points" logic
fd4e105 
For BsplineBasis and BsplineTrajectory.

Towards RobotLocomotion#22533 which is towards RobotLocomotion#22500.
@RussTedrake RussTedrake mentioned this issue Jan 27, 2025
Merged
RussTedrake added a commit to RussTedrake/drake that referenced this issue Jan 28, 2025
@RussTedrake
Implement Bspline "linear in control points" logic
7919745 
For BsplineBasis and BsplineTrajectory.

Towards RobotLocomotion#22533 which is towards RobotLocomotion#22500.
RussTedrake added a commit to RussTedrake/drake that referenced this issue Jan 28, 2025
@RussTedrake
Implement Bspline "linear in control points" logic
01aec15 
For BsplineBasis and BsplineTrajectory.

Towards RobotLocomotion#22533 which is towards RobotLocomotion#22500.
RussTedrake added a commit that referenced this issue Jan 28, 2025
@RussTedrake
Implement Bspline "linear in control points" logic (#22535)
ebbdae4 
For BsplineBasis and BsplineTrajectory.

Towards #22533 which is towards #22500.
RussTedrake added a commit to RussTedrake/drake that referenced this issue Jan 29, 2025
@RussTedrake
Convert kintrajopt to use AsLinearInControlPoints
67566cf 
Resolves RobotLocomotion#22533.
RussTedrake added a commit to RussTedrake/drake that referenced this issue Jan 29, 2025
@RussTedrake
Convert kintrajopt to use AsLinearInControlPoints
146c413 
Resolves RobotLocomotion#22533.

This includes a breaking change. The vector<vector<Binding>> return
types for KinematicTrajectoryOptimization AddAccelerationBounds and
AddJerkBounds are now vector<Bindings>.
@RussTedrake RussTedrake mentioned this issue Jan 29, 2025
Merged
RussTedrake added a commit to RussTedrake/drake that referenced this issue Jan 31, 2025
@RussTedrake
Convert kintrajopt to use AsLinearInControlPoints
ddf3aad 
Resolves RobotLocomotion#22533.

This includes a breaking change. The vector<vector<Binding>> return
types for KinematicTrajectoryOptimization AddAccelerationBounds and
AddJerkBounds are now vector<Bindings>.
RussTedrake added a commit to RussTedrake/drake that referenced this issue Feb 1, 2025
@RussTedrake
Convert kintrajopt to use AsLinearInControlPoints
f048d9a 
Resolves RobotLocomotion#22533.

This includes a breaking change. The vector<vector<Binding>> return
types for KinematicTrajectoryOptimization AddAccelerationBounds and
AddJerkBounds are now vector<Bindings>.
RussTedrake added a commit to RussTedrake/drake that referenced this issue Feb 4, 2025
@RussTedrake
Convert kintrajopt to use AsLinearInControlPoints
570fec7 
Resolves RobotLocomotion#22533.

This includes a breaking change. The vector<vector<Binding>> return
types for KinematicTrajectoryOptimization AddAccelerationBounds and
AddJerkBounds are now vector<Bindings>.
RussTedrake added a commit to RussTedrake/drake that referenced this issue Feb 4, 2025
@RussTedrake
Convert kintrajopt to use AsLinearInControlPoints
8c95a84 
Resolves RobotLocomotion#22533.

This includes a breaking change. The vector<vector<Binding>> return
types for KinematicTrajectoryOptimization AddAccelerationBounds and
AddJerkBounds are now vector<Bindings>.
xuchenhan-tri pushed a commit that referenced this issue Feb 4, 2025
@RussTedrake
Convert kintrajopt to use AsLinearInControlPoints (#22552)
9f26738 
Resolves #22533.

This includes a breaking change. The vector<vector<Binding>> return
types for KinematicTrajectoryOptimization AddAccelerationBounds and
AddJerkBounds are now vector<Bindings>.
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component: planning and control Optimization-based planning and control, and search- and sampling-based planning priority: low type: feature request
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Convert kintrajopt to use AsLinearInControlPoints RussTedrake/drake
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