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[RTR] prevents further errors in inital guess size #617

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Merged
pariterre merged 1 commit into from
Feb 23, 2023
Merged

[RTR] prevents further errors in inital guess size #617

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15 changes: 7 additions & 8 deletions bioptim/optimization/optimal_control_program.py
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Original file line number Diff line number Diff line change
Expand Up @@ -512,6 +512,13 @@ def __init__(
ConfigureProblem.initialize(self, self.nlp[i])
self.nlp[i].ode_solver.prepare_dynamic_integrator(self, self.nlp[i])

self.isdef_x_init = False
self.isdef_u_init = False
self.isdef_x_bounds = False
self.isdef_u_bounds = False

self.update_bounds(x_bounds, u_bounds)
self.update_initial_guess(x_init, u_init)
# Define the actual NLP problem
self.v.define_ocp_shooting_points()

Expand All @@ -529,14 +536,6 @@ def __init__(
else:
ContinuityObjectiveFunctions.continuity(self, state_continuity_weight)

self.isdef_x_init = False
self.isdef_u_init = False
self.isdef_x_bounds = False
self.isdef_u_bounds = False

self.update_bounds(x_bounds, u_bounds)
self.update_initial_guess(x_init, u_init)

# Prepare constraints
self.update_constraints(self.implicit_constraints)
self.update_constraints(constraints)
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