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Copy IFOPT code locally to allow customization and add nodes variable set #401

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Copy IFOPT code locally to allow customization and add nodes variable set #401

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Levi-Armstrong
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@rjoomen
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rjoomen commented Apr 30, 2024

Wouldn't a custom tesseract-robotics Ifopt fork be better? Adding it all to Trajopt inflates the code base, whereas having it in a separate project also helps with code separation etc.

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@Levi-Armstrong @rjoomen