Sadra Sadraddini

GCS trajectories that are calculated from `GcsTrajectoryOptimization` with fully revolute joints are not continous in Euclidean space - they may have integer multiples of 2π jumps across the segments. We...

Need getters in GcsTrajOptimization

15

**Is your feature request related to a problem? Please describe.** Access to vertices and edges in `GcsTrajectoryOptimization` is available via its GCS from `const geometry::optimization::GraphOfConvexSets& graph_of_convex_sets() const` however it is...

Iris Region Calculation can be faster with tight nonlinear constraints

5

**Is your feature request related to a problem? Please describe.** I'm calling `IrisInConfigurationSpace` with nonlinear constraints on the config. I notice that in the code, * first, the hyperplanes related...

A new derived class of `ConvexSet`: the implementation for convex hulls of multiple convex sets. - - - This change is [](https://reviewable.io/reviews/RobotLocomotion/drake/21594)