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RoboticExplorationLab / Altro.jl

MIT License
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Solver Stats Index Error #4

Closed tpunnoose closed 3 years ago

tpunnoose commented 4 years ago

I get a BoundsError: attempt to access 1000-element Array{Float64,1} at index [0] originating at the following line: https://github.com/RoboticExplorationLab/Altro.jl/blob/ee66cb0b94e3d2a044cd74a72cbd161b0fd45072/src/augmented_lagrangian/al_methods.jl#L83

tpunnoose commented 4 years ago

A similar error ERROR: BoundsError: attempt to access 1000-element Array{Int64,1} at index [0] here: https://github.com/RoboticExplorationLab/Altro.jl/blob/e48a4337db72174be3ac19b1665bf3075c2688ba/src/solver_opts.jl#L198

bjack205 commented 4 years ago

Can you give some more background on how you generated this error? The only way this should happen is if you have 0 iLQR iterations and then attempt an outer loop iteration. I can put a safeguard to prevent this error, but I'm curious as to how it's even doing this. In particular, can you check if solver.stats.status == SOLVE_SUCCEEDED? This one way it could be getting this error, but it's still odd. Are you solving the same problem again, like a warm start? If so, there could a problem with resetting the solver.