added: ill-conditioned QP warning at controller construction #261
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The condition number is verified only at construction of `SingleShooting` controllers (no verification in `setmodel!`)
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #261 +/- ##
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Coverage 98.58% 98.58%
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Files 26 26
Lines 4453 4464 +11
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+ Hits 4390 4401 +11
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Benchmark Results (Julia v1)Time benchmarks
Memory benchmarks
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Objects with `MultipleShooting`, `TrapezoidalCollocation` and `RungeKutta`, to try to reduce TTFX with them
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The condition number of the Hessian matrix$\mathbf{\tilde{H}}$ is verified only at construction of
SingleShootingcontrollers. No verification is done insetmodel!, to avoid an "expensive" onlinecondcall (with successive linearization MPC).In the warning, I suggest to either:
MultipleShootingtranscription, which is known to be more robust to unstable model (leading to ill-conditioned problem)