Properly initialize Sleipnir cancellation flag (#80)

SleipnirGroup · Feb 16, 2024 · 2a8a9d7 · 2a8a9d7
1 parent 575826e
commit 2a8a9d7
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/src/optimization/SleipnirOpti.cpp b/src/optimization/SleipnirOpti.cpp
@@ -106,6 +106,7 @@ void SleipnirOpti::SetInitial(trajopt::SleipnirExpr& expr, double value) {
 }
 
 void SleipnirOpti::Solve() {
+  GetCancellationFlag() = 0;
   opti.Callback([](const sleipnir::SolverIterationInfo&) -> bool {
     return trajopt::GetCancellationFlag();
   });