From 2a8a9d7aa2957f896d0d8da1950f0b8d32f73e8b Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Thu, 15 Feb 2024 17:11:51 -0800
Subject: [PATCH] Properly initialize Sleipnir cancellation flag (#80)

---
 src/optimization/SleipnirOpti.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/optimization/SleipnirOpti.cpp b/src/optimization/SleipnirOpti.cpp
index 4080dfff..0b75b33e 100644
--- 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();
   });