Error status 3 from HPIPM when consecutively solving using SQP_RTI

HARPERX · January 26, 2022, 2:14pm

Hi,

I am currently working on a robot MPC application. The SQP_RTI solver can successfully solve at the very first round. Then I use the state at the end of the first step as the initial state of next solving, it reports error status 3 from HPIPM after several iterations of qp. However, if I reload the solver at each round, the SQP_RTI can successfully solve and reduce the cost without any error. Any suggestion on the usage of SQP_RTI?

(I did not set rti_phase manually, which according to the Problem Formulation should be both for the RTI routine)

FreyJo · December 7, 2023, 1:13pm

A very late reply, but if I look for HPIPM status I also find that post.
The HPIPM status is defined here:

github.com

giaf/hpipm/blob/master/include/hpipm_common.h#L62


      
          	SPEED, // focus on speed, relative IPM formulation
          	BALANCE, // balanced mode, relative IPM formulation
          	ROBUST, // focus on robustness, relative IPM formulation
          	};
          
          enum hpipm_status
          	{
          	SUCCESS, // found solution satisfying accuracy tolerance
          	MAX_ITER, // maximum iteration number reached
          	MIN_STEP, // minimum step length reached
          	NAN_SOL, // NaN in solution detected
          	INCONS_EQ, // unconsistent equality constraints
          	};
          
          
          
          #ifdef __cplusplus
          } /* extern "C" */
          #endif