Commit 2634be3c authored by Jorn Baayen's avatar Jorn Baayen

Integration fixes. Still not functional due to issue with depends_on().

parent f8418847
......@@ -528,7 +528,7 @@ class CollocatedIntegratedOptimizationProblem(OptimizationProblem, metaclass = A
# CasADi shares subexpressions that are bundled into the same Function.
# The first argument is the guess for the new value of
# integrated_states.
[integrated_states_1] = integrator_step_function([integrated_states_0,
[integrated_states_1] = integrator_step_function.call([integrated_states_0,
integrated_states_0,
ensemble_parameters,
vertcat(collocated_states_0,
......@@ -609,7 +609,7 @@ class CollocatedIntegratedOptimizationProblem(OptimizationProblem, metaclass = A
[accumulated_X, accumulated_U, ensemble_parameters], [vertcat(*accumulated_Y)], function_options)
if len(integrated_variables) > 0:
accumulation = accumulated.mapsum(n_collocation_times - 1)
accumulation = accumulated.mapaccum('accumulation', n_collocation_times - 1)
else:
# Fully collocated problem. Use map(), so that we can use
# parallelization along the time axis.
......@@ -961,7 +961,7 @@ class CollocatedIntegratedOptimizationProblem(OptimizationProblem, metaclass = A
:returns: A dictionary of CasADi :class:`rootfinder` options. See the CasADi documentation for details.
"""
return {'linear_solver': 'csparse'}
return {}
@property
def controls(self):
......
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