Trajopt_ifopt: Simple Readme

trajopt_ifopt/README.md

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+# trajopt_ros_ifopt
+
+This package provides robotics costs and constraints for use with the ifopt optimization framework. Each term is written as a constraint that can then be converted into a cost.
+
+## Currently Supported Constraints
+*  Joint Position
+*  Joint Velocity
+*  Cartesian Position(FK)
+*  Inverse Kinematics
+*  Collision (single timestep evaluator only)
+
+## Currently Supported Costs
+These costs convert any constraint into a cost
+
+*  Squared Cost
+
+
+## Trajopt_optimizers
+Additionally, the SQP solver has been rewritten. Currently it provides the SQP routine with interfaces to these QP solvers
+*  [OSQPEigen](https://github.com/robotology/osqp-eigen/tree/master/include/OsqpEigen)
+
+Therefore the solvers that will work in this new framework are
+*  [IPOPT](https://github.com/coin-or/Ipopt)
+*  [SNOPT](http://www.sbsi-sol-optimize.com/asp/sol_product_snopt.htm)
+*  Trajopt_sqp
+
+## TODO
+
+- [ ] Collision - Add other collision evaluators
+- [ ] Callbacks - Callbacks for plotting need to be developed (here and in Tesseract)
+- [ ] Print debug info - trajopt_sco prints a bunch of debugging information that developers have become accustomed to. We need to replicate that here.
+- [ ] Gurobi interface - We should try SNOPT first, but an interface to Gurobi might be nice.