From 4537066703fdb54c13ccc286b260ac73a899ef15 Mon Sep 17 00:00:00 2001
From: shueja-personal <j.a.shue@outlook.com>
Date: Mon, 13 Nov 2023 20:40:16 -0800
Subject: [PATCH] actually pass the iteration callback

---
 src/optimization/CasADiOpti.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/optimization/CasADiOpti.cpp b/src/optimization/CasADiOpti.cpp
index 964a6960..bdaeaaa4 100644
--- a/src/optimization/CasADiOpti.cpp
+++ b/src/optimization/CasADiOpti.cpp
@@ -29,7 +29,7 @@ void CasADiOpti::Solve() {
   // I'm assuming the dynamic lib is on the path and casadi can find it.
   auto pluginOptions = casadi::Dict();
   pluginOptions["ipopt.iteration_callback"] = CasADiIterCallback("f", 0.5);
-  opti.solver("ipopt");
+  opti.solver("ipopt", pluginOptions);
 #else
   auto pluginOptions = casadi::Dict();
   pluginOptions["ipopt.print_level"] = 0;