Inequality Support in MATLAB/Python

[gchenfc]

Feature

Inequality factors and graphs support in MATLAB/Python wrappers

Motivation

Inequalities are already supported in C++, it would be great to also be supported in the wrappers.

Pitch

Many problems require inequalities such as joint limits, cable robot tensions, and many other kinematics/dynamics problems. Bringing inequalities to python would broaden the audience and useability of GTSAM for kinematics, dynamics, motion planning, etc problems.

Alternatives

Custom nonlinear factors, i.e. barrier function

Additional context

[octopuscabbage]

Could this be used for limiting velocity? I have thought that this might improve imu based navigation by allowing you to specify a max velocity that your robot could achieve.

[gchenfc]

Yes it could!

[varunagrawal]

LinearInequality and InequalityFactorGraph are currently under gtsam_unstable. It would be great to have them working to a point where we can migrate them to the gtsam namespace. Wrapping would then be a cinch.

In the meantime, wrapping via gtsam_unstable.h should be easily doable.

[ProfFan]

@gchenfc Friendly ping :)