How should we deal with doubled computation in the constraint builder class?

[Akshay5312]

We have "CreateBounds" and "CreateFunction" functions to create

b_min < g(x) < b_max

but often the computation of the bounds and the function are dependent on each other. In the instance of the contact constraint the number of constraints (size of b and g) is dependent on the current mode.

How should we implement a constraint builder where there is shared computation?

I propose we make the functions CreateApplyAt, CreateBounds and CreateFunction protected and empty virtual functions, and make BuildConstraint virtual.

That way, when extending the ConstraintBuilder, you can elect to implement the "constraint building" in BuildConstraint itself.

[echandler5956f]

Yep, let's do that.