Remove explicit constructor on struct IrisOptions (RobotLocomotion#20845

) This allows for aggregate initialization, while still allowing default construction. Also fix a missing inline keyword in optimization_pybind.
mcx · Jan 30, 2024 · 7fdb209 · 7fdb209
1 parent 402fac2
commit 7fdb209
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Showing 3 changed files with 2 additions and 4 deletions.
diff --git a/bindings/pydrake/geometry/geometry_py_optimization.cc b/bindings/pydrake/geometry/geometry_py_optimization.cc
@@ -447,7 +447,7 @@ void DefineGeometryOptimization(py::module m) {
   {
     const auto& cls_doc = doc.IrisOptions;
     py::class_<IrisOptions> iris_options(m, "IrisOptions", cls_doc.doc);
-    iris_options.def(py::init<>(), cls_doc.ctor.doc)
+    iris_options.def(ParamInit<IrisOptions>())
         .def_readwrite("require_sample_point_is_contained",
             &IrisOptions::require_sample_point_is_contained,
             cls_doc.require_sample_point_is_contained.doc)

diff --git a/bindings/pydrake/geometry/optimization_pybind.h b/bindings/pydrake/geometry/optimization_pybind.h
@@ -12,7 +12,7 @@ namespace pydrake {
 object ConvexSets (which uses copyable_unique_ptr ownership). This is useful to
 accept Python-natural function arguments (list of pointers) and then call the
 C++ API that requires a more complicated type. */
-geometry::optimization::ConvexSets CloneConvexSets(
+inline geometry::optimization::ConvexSets CloneConvexSets(
     const std::vector<geometry::optimization::ConvexSet*>& sets_in) {
   geometry::optimization::ConvexSets sets;
   sets.reserve(sets_in.size());

diff --git a/geometry/optimization/iris.h b/geometry/optimization/iris.h
@@ -36,8 +36,6 @@ struct IrisOptions {
     a->Visit(DRAKE_NVP(random_seed));
   }
 
-  IrisOptions() = default;
-
   /** The initial polytope is guaranteed to contain the point if that point is
   collision-free. However, the IRIS alternation objectives do not include (and
   can not easily include) a constraint that the original sample point is