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Fix delta_x usage in msipddp_solver #149

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Merged
astomodynamics merged 1 commit into from
Sep 1, 2025
Merged

Fix delta_x usage in msipddp_solver #149

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10 changes: 6 additions & 4 deletions src/cddp_core/msipddp_solver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1858,8 +1858,9 @@ namespace cddp
{
for (int t = 0; t < horizon; ++t)
{
const Eigen::VectorXd &delta_x = workspace_.delta_x_vectors[t];
workspace_.delta_x_vectors[t] = result.state_trajectory[t] - context.X_[t];
// Compute delta_x first before using it
Eigen::VectorXd delta_x = result.state_trajectory[t] - context.X_[t];
workspace_.delta_x_vectors[t] = delta_x;
result.control_trajectory[t] =
context.U_[t] + alpha * k_u_[t] + K_u_[t] * delta_x;

Expand Down Expand Up @@ -1946,8 +1947,9 @@ namespace cddp
bool s_trajectory_feasible = true;
for (int t = 0; t < horizon; ++t)
{
const Eigen::VectorXd &delta_x = workspace_.delta_x_vectors[t];
workspace_.delta_x_vectors[t] = result.state_trajectory[t] - context.X_[t];
// Compute delta_x first before using it
Eigen::VectorXd delta_x = result.state_trajectory[t] - context.X_[t];
workspace_.delta_x_vectors[t] = delta_x;

// Update slack variables first
for (const auto &constraint_pair : constraint_set)
Expand Down
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