fix solver options minimum jerk

trajectory-invariants · Jul 18, 2024 · aa5edb7 · aa5edb7
1 parent 8275d59
commit aa5edb7
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/invariants_py/calculate_invariants/rockit_calculate_vector_invariants_position_mj.py b/invariants_py/calculate_invariants/rockit_calculate_vector_invariants_position_mj.py
@@ -104,8 +104,9 @@ def __init__(self, window_len = 100, w_pos = 1, w_regul_jerk = 10**-5 , bool_uns
         # Solve already once with dummy measurements
         self.initialize_solver(window_len)
         if fatrop_solver:
-            self.ocp._method.set_option("print_level",0)
-            self.ocp._method.set_option("tol",1e-12)
+            self.ocp._method.set_option("print_level",print_level)
+            self.ocp._method.set_option("tol",tolerance)
+            self.ocp._method.set_option("max_iter",max_iter)
         self.first_window = True
 
         # Transform the whole OCP to a Casadi function