cranking down solver tolerance fixes this issue, but the solver has some odd intermediate behavior in the receding horizon rollout

dfridovi · dfridovi · commit e98e48cb1a81 · 2024-12-08T09:59:13.000-06:00
diff --git a/src/solve.jl b/src/solve.jl
@@ -5,7 +5,7 @@ function TrajectoryGamesBase.solve_trajectory_game!(
     shared_constraint_premultipliers = ones(num_players(game)),
     context = Float64[],
     initial_guess = nothing,
-    parametric_mcp_solve_options = (;),
+    parametric_mcp_solve_options = (; tol = 1e-7),
 )
     length(shared_constraint_premultipliers) == num_players(game) ||
         throw(ArgumentError("Must provide one constraint multiplier per player"))

Original file line number	Diff line number	Diff line change
`@@ -5,7 +5,7 @@ function TrajectoryGamesBase.solve_trajectory_game!(`
`5`	`5`	`shared_constraint_premultipliers = ones(num_players(game)),`
`6`	`6`	`context = Float64[],`
`7`	`7`	`initial_guess = nothing,`
`8`		`- parametric_mcp_solve_options = (;),`
	`8`	`+ parametric_mcp_solve_options = (; tol = 1e-7),`
`9`	`9`	`)`
`10`	`10`	`length(shared_constraint_premultipliers) == num_players(game) \|\|`
`11`	`11`	`throw(ArgumentError("Must provide one constraint multiplier per player"))`