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Improve the SCP exit status #2

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dmalyuta opened this issue Mar 13, 2021 · 0 comments
Open

Improve the SCP exit status #2

dmalyuta opened this issue Mar 13, 2021 · 0 comments
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enhancement New feature or request

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Currently, if no convex optimizer issue came up, then the SCP solution will have in its status field "SCP_SOLVED". However, it may be the case that the dynamics are not satisfied, or the constraints are also infeasible (all due to relaxations via virtual controls/soft penalties in GuSTO).

Task: improve the exit status so that it tells the user if the converged solution is dynamically infeasible and/or does not satisfy the nonconvex constraints.
@dmalyuta dmalyuta added the enhancement New feature or request label Mar 13, 2021
@dmalyuta dmalyuta self-assigned this Mar 13, 2021
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