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pyomeca / bioptim

An optimization framework that links CasADi, Ipopt, ACADOS and biorbd for Optimal Control Problem
MIT License
92 stars 46 forks source link

ACADOS + DefectType #568

Open Ipuch opened 1 year ago

Ipuch commented 1 year ago

Idea 1

solver = Solver.ACADOS()
solver.set_integrator_type("IRK", defect_type=DefectType.IMPLICIT)
ocp.solve(solver)

Idea 2

ode_solver = OdeSolver.IRK(defect_type=DefectType.IMPLICIT)
solver = Solver.ACADOS()
ocp.solve(solver)

@aceglia Any thoughts on this ? @pariterre

Ipuch commented 1 year ago

@aceglia did you test it? Is it worth otherwise we close the issue?