Add TrajOpt Ifopt planner

[mpowelson]

Adds a Tesseract planner for the trajopt_ifopt planner. This planner will eventually replace the trajopt planner and is meant to be functionally equivalent. Currently only the trajopt_sqp solver (equivalent to trajopt_sco) is supported via this planner. However, we may eventually set this up such that IPOPT of SNOPT can be used too.

[mpowelson]

@Levi-Armstrong Just to keep you updated, I think this is nearing a workable state. The main thing left is the collision terms, but I think I will put that off until #426 is addressed.

There are also the obvious things like acceleration, jerk, singularity avoidance, cost from error func, etc that are not yet supported in trajopt_ifopt.

[Levi-Armstrong]

@Levi-Armstrong Just to keep you updated, I think this is nearing a workable state. The main thing left is the collision terms, but I think I will put that off until #426 is addressed.

There are also the obvious things like acceleration, jerk, singularity avoidance, cost from error func, etc that are not yet supported in trajopt_ifopt.

Thats great. Let me know if I can help with anything.

[mpowelson]

The collision term skeleton has been added. However, it will require some work in trajopt before it is usable.

[mpowelson]

@Levi-Armstrong Believe it or not, I think this is ready for review. It requires trajopt #219 which has not been merged yet.

[mpowelson]

Pushed a clang-tidy fix and deleted an unused cpp file

[mpowelson]

@Levi-Armstrong It looks like it can't find tesseract_motion_planners-targets.cmake? Here's the error

[Levi-Armstrong]

@mpowelson Can you rebase on the latest?

[mpowelson]

@mpowelson Can you rebase on the latest?

Done

[mpowelson]

@Levi-Armstrong This is ready for review. I don't know why Windows is upset.

[Levi-Armstrong]

Ah, so the windows build is failing because there is no implementation for the toXML in the default composite and plan profiles. I would add them in the cpp and throw and exception if they are called until we have time to implement.

[codecov]

Codecov Report

Merging #443 (fa0bd50) into feature/CommandLanguage (93a9745) will decrease coverage by 0.13%.
The diff coverage is 27.90%.

@@                     Coverage Diff                     @@
##           feature/CommandLanguage     #443      +/-   ##
===========================================================
- Coverage                    70.53%   70.39%   -0.14%     
===========================================================
  Files                          220      220              
  Lines                        14181    14219      +38     
===========================================================
+ Hits                         10002    10009       +7     
- Misses                        4179     4210      +31     

Impacted Files	Coverage Δ
...collision/include/tesseract_collision/core/types.h	100.00% <ø> (ø)
...de/tesseract_command_language/cartesian_waypoint.h	33.33% <0.00%> (-6.07%)	⬇️
...ers/trajopt/profile/trajopt_default_plan_profile.h	100.00% <ø> (ø)
..._motion_planners/trajopt/profile/trajopt_profile.h	100.00% <ø> (ø)
...ract_motion_planners/src/trajopt/trajopt_utils.cpp	39.42% <0.00%> (-3.97%)	⬇️
...c/trajopt/profile/trajopt_default_plan_profile.cpp	53.27% <42.85%> (-1.19%)	⬇️
...nclude/tesseract_command_language/joint_waypoint.h	56.25% <50.00%> (+0.10%)	⬆️
...t/problem_generators/default_problem_generator.cpp	69.31% <75.00%> (-0.05%)	⬇️
...esseract/tesseract_collision/src/fcl/fcl_utils.cpp	88.08% <0.00%> (-0.52%)	⬇️

[mpowelson]

Thanks for fixing this by the way.