Issues

• Collision constraints dereference a null collision_data_ in getValues()/getJacobian() before the first update()

  tesseract-robotics/trajopt#617 · Filter by author jf--- opened on Oct 11, 2026

• JointVelConstraint, JointAccelConstraint, JointJerkConstraint: the std::vector<Bounds> constructors are declared but never defined

  tesseract-robotics/trajopt#606 · Filter by author rjoomen opened on Oct 5, 2026
  1

• TrajOptQPProblem::convexify() throws std::length_error when a cost set leaves getNonZeros() at its default of -1

  bindings
  tesseract-robotics/trajopt#599 · Filter by author jf--- opened on Oct 1, 2026
  

• Follow-up: resolve collision margin/coeff once per pair in TrajOpt sco collision evaluation

  tesseract-robotics/trajopt#577 · Filter by author rjoomen opened on Aug 10, 2026
  

• Should osqp-eigen be moved from trajopt_ext to dependencies.repos?

  tesseract-robotics/trajopt#572 · Filter by author rjoomen opened on Jul 27, 2026
  1

  

• TrajOpt Ifopt TODO List

  tesseract-robotics/trajopt#507 · Filter by author Levi-Armstrong opened on Jan 20, 2026
  23

• Configuration limitation with safety_margin and safety_margin_buffer

  tesseract-robotics/trajopt#430 · Filter by author Levi-Armstrong opened on Oct 26, 2024
  6

• Enum cast out of range

  tesseract-robotics/trajopt#415 · Filter by author rjoomen opened on Jul 24, 2024
  1

  

• CMake issue with jsoncpp_lib ALIAS target

  tesseract-robotics/trajopt#384 · Filter by author marip8 opened on Jan 30, 2024
  3

• Using trajopt_sqp on Windows fails

  tesseract-robotics/trajopt#433 · Filter by author Astraaaaaaa opened on Jan 11, 2024
  2

• Discrete collision check setting

  tesseract-robotics/trajopt#361 · Filter by author rjoomen opened on Nov 20, 2023
  4

• The new BasicTrustRegionSQPMultiThreaded does not outperform BasicTrustRegionSQP

  tesseract-robotics/trajopt#334 · Filter by author Levi-Armstrong opened on Jun 20, 2023

• Segfault caused by logger on Windows

  tesseract-robotics/trajopt#331 · Filter by author johnwason opened on Jun 18, 2023

• Verify that collision constraint/cost hare handled correctly when number of contacts is less than size.

  tesseract-robotics/trajopt#317 · Filter by author Levi-Armstrong opened on Apr 3, 2023

• Avoid recreating the problem within the trust region loop

  tesseract-robotics/trajopt#312 · Filter by author Levi-Armstrong opened on Mar 14, 2023
  7

• BPMPD Thread Safety

  bug
  tesseract-robotics/trajopt#221 · Filter by author marip8 opened on Dec 9, 2020
  2

• Feature Request: Cartesian Path Constraints

  enhancement
  tesseract-robotics/trajopt#218 · Filter by author mpowelson opened on Nov 20, 2020
  2

• Feature Request: Add debugging info to collision terms

  enhancement
  tesseract-robotics/trajopt#198 · Filter by author mpowelson opened on Aug 6, 2020
  1

• Add collision callback to trajopt_sqp

  good first issue
  tesseract-robotics/trajopt#192 · Filter by author mpowelson opened on Jul 6, 2020
  8

• Errors linking executable vs libtrajopt_sco.so when building with Gurobi in Qt Creator

  tesseract-robotics/trajopt#175 · Filter by author schornakj opened on Mar 12, 2020
  1

• Plotting callback broken for time param

  bug
  tesseract-robotics/trajopt#84 · Filter by author mpowelson opened on Feb 22, 2019
  1

• Add to_string to AffExpr and QuadExpr

  duplicateenhancement
  tesseract-robotics/trajopt#48 · Filter by author mpowelson opened on Dec 6, 2018
  1

• Handle numeric differentiation for small trajectories

  enhancement
  tesseract-robotics/trajopt#46 · Filter by author mpowelson opened on Nov 28, 2018

• Implement QuadExpr Constraints

  enhancementwontfix
  tesseract-robotics/trajopt#45 · Filter by author mpowelson opened on Nov 27, 2018
  2

• bpmpd license missing

  enhancement
  tesseract-robotics/trajopt#22 · Filter by author arocchi opened on Oct 22, 2018