added: smarter initstate! for non-SingleShooting#320
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franckgaga wants to merge 2 commits intomainfrom
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added: smarter initstate! for non-SingleShooting#320franckgaga wants to merge 2 commits intomainfrom
initstate! for non-SingleShooting#320franckgaga wants to merge 2 commits intomainfrom
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #320 +/- ##
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Coverage 98.38% 98.38%
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Files 29 29
Lines 5389 5400 +11
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+ Hits 5302 5313 +11
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It does not really improve the performances. And warm-starting at zeros no matter the transcription method is way simpler. Let's not merge this PR. |
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The warm-start value of the decision vector$\mathbf{\tilde{Z}}$ is now initialized with the initial state estimate, for the state part of the vector ($\mathbf{\hat{X}_0}$ component). This is applicable only for non-
SingleShootingtranscription methods.Before this PR, the vector was entirely initialized with zeros. Without any other prior knowledge, it makes sense for the input increment part, but not really for the predicted state part. Using the current
mpc.estim.x̂0over the prediction horizon is more logical.Let's benchmark this to see if it's faster for
MultipleShootingandTrapezoidalCollocation.