Hey @FreyJo ,
I actually tried storing each iterate with a 0 return status and then load it the next iterate, but it didn’t make any noticeable improvements.
I then tried initializing X at each iterate (with the current status instead of zeros) the same way mentioned here Cost and linearization points - #6 by FreyJo . It did improve the performance a little (less crashes) but the errors persists.
- Could you please suggest a different way to initialize x, u and pi ?
- If the initialization of X is necessary for this OCP, does that mean that it would be better to include a path planner (for better x initialization)?
Thanks for your time 