Fix splicing and warm starting logic

HJReachability / ilqgames

Iterative Linear-Quadratic Games!

https://hjreachability.github.io/ilqgames/

BSD 3-Clause "New" or "Revised" License

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Fix splicing and warm starting logic #30

Closed dfridovi closed 4 years ago

dfridovi commented 4 years ago

Mostly changes to SolutionSplicer::Splice() and Problem::SetUpNextRecedingHorizon() functions so that receding horizon logic works correctly. Fixes https://github.com/HJReachability/ilqgames/issues/28

dfridovi commented 4 years ago

Will add initial attempt to make infeasible initial starting points feasible. Currently fails in constrained cases for this reason, but succeeds in unconstrained cases.