From aa5edb7e4b4df826b4d79fa96adbc920d592983d Mon Sep 17 00:00:00 2001 From: Maxim Vochten Date: Thu, 18 Jul 2024 11:36:09 +0200 Subject: [PATCH] fix solver options minimum jerk --- .../rockit_calculate_vector_invariants_position_mj.py | 5 +++-- 1 file changed, 3 insertions(+), 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 index 79552d1..115ecac 100644 --- 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