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MatthewPeterKelly / OptimTraj

A trajectory optimization library for Matlab
MIT License
623 stars 210 forks source link

Why does OptimTraj print out the following message, even for the demo examples? #15

Closed stumarcus314 closed 8 years ago

stumarcus314 commented 8 years ago

When I run OptimTraj, it prints out the message below. Perhaps OptimTraj could be modified to prevent this message from being printed.

Your initial point x0 is not between bounds lb and ub; FMINCON shifted x0 to strictly satisfy the bounds.

MatthewPeterKelly commented 8 years ago

FMINCON prints out that warning whenever the initial guess is "sitting" on a constraint. For example, consider a variable "x", with the following constraints: x <= 0, x >=0, and the initial guess is x=0. It might be possible to kill this with some clever preprocessing, but I never got around to it.