ACADOS initial guess is changed

pyomeca / bioptim

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem

MIT License

91 stars 46 forks source link

ACADOS initial guess is changed #222

Closed pariterre closed 3 years ago

pariterre commented 3 years ago

The second optimization using ACADOS does not behave the same as the first because ACADOS automatically changes X0. It was decided to hamonize with IPOPT which does not change X0

fbailly commented 3 years ago

Solved in https://github.com/pyomeca/bioptim/pull/214 thanks to update_an_init_solver(). Since x_init and u_init are mandatory at the construction of OCP, I think the default behavior is correct now.