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fixes repeated divergence after crash #5

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fixes repeated divergence after crash #5

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kelia
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@kelia kelia commented Apr 24, 2020 •
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Crashing in simulation leads to divergence of MPC.
When resetting the simulation and restarting the MPC, the previous state corrupts the optimization, leading to repetitive crashes and requiring to restart the MPC node.

This change forces a clean solve from scratch, fixing above issue.

@kelia kelia requested a review from foehnx April 24, 2020 09:28
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foehnx commented Apr 24, 2020

Thanks.
The change right now is on the wrapper level, which does not account for threading.
I will move the change to the controller and make it thread-safe... but has to wait for next week.
Cheers

@foehnx foehnx self-assigned this Apr 24, 2020
@foehnx foehnx added the enhancement New feature or request label Apr 24, 2020
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