Fixes the failing test in testMocoInterface.cpp on branch upgrade_ipopt.
Brief summary of changes
The subtest in testMocoInterface.cpp was failing because the OCP Moco was trying to solve was actually overconstrained. Somehow the previous Ipopt stack had no issues with this problem, but the updated stack struggles with it.
These changes allow the test to be run with no control in the model. It required a few additional changes in Moco to allow empty controls tables when creating time-stepping guesses.
Testing I've completed
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no need to update because...patch for existing PR.
Fixes the failing test in
testMocoInterface.cppon branchupgrade_ipopt.Brief summary of changes
The subtest in
testMocoInterface.cppwas failing because the OCP Moco was trying to solve was actually overconstrained. Somehow the previous Ipopt stack had no issues with this problem, but the updated stack struggles with it.These changes allow the test to be run with no control in the model. It required a few additional changes in Moco to allow empty controls tables when creating time-stepping guesses.
Testing I've completed
Looking for feedback on...
CHANGELOG.md (choose one)
This change is