cleanup trajectory optimization examples (now everything uses the new interface)

to be included in drake v 0.9.7
sadly yes.  the numerics of the polygonal constraints (and specifically the objective which tries to maximize the distance from the constraints) are horrible.  i'd bet a hinge loss or something similar would help a lot. (but not today!)

On Oct 12, 2014, at 4:09 PM, Andres Valenzuela <notifications@github.com> wrote:

> In examples/Airplane2D/runDircolWithObs.m:
> 
> >  
> >  figure(25); clf;  hold on;
> >  v = PlaneVisualizer(p,field);
> >  v.draw(0,x0);
> >  drawnow
> >  
> > -disp('Running trajectory optimization...');
> > -
> > -options.method='dircol';
> > -options.MajorOptimalityTolerance=1e-2;
> > -options.trajectory_cost_fun=@(t,x,u)plotDircolTraj(t,x,u,[1 2]);  % for debugging
> > -%options.grad_method={'user','taylorvar'};
> > +prog = setSolverOptions(prog,'snopt','MajorOptimalityTolerance',1e-2);
> Does the optimality tolerance need to be so loose here?
> 
> —
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