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More robust infeasibility check for quadrotor #284

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More robust infeasibility check for quadrotor #284

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4 changes: 2 additions & 2 deletions docs/src/tutorials/Systems and Control/quadrotor.jl
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Expand Up @@ -157,12 +157,12 @@ function γ_step(solver, V, γ_min, degree_k, degree_s3; γ_tol = 1e-1, max_iter
@info("Iteration $num_iters/$max_iters : Solving with $(solver_name(model)) for `γ = $γ`")
optimize!(model)
@info("After $(solve_time(model)) seconds, terminated with $(termination_status(model)) ($(raw_status(model)))")
if primal_status(model) == MOI.FEASIBLE_POINT || primal_status(model) == MOI.NEARLY_FEASIBLE_POINT
if primal_status(model) in [MOI.FEASIBLE_POINT, MOI.NEARLY_FEASIBLE_POINT]
@info("Feasible solution found : primal is $(primal_status(model))")
γ_min = γ
k_best = value.(k)
s3_best = value(s3)
elseif dual_status(model) == MOI.INFEASIBILITY_CERTIFICATE
elseif dual_status(model) == MOI.INFEASIBILITY_CERTIFICATE || termination_status(model) in [MOI.INFEASIBLE, MOI.INFEASIBLE_OR_UNBOUNDED] # `INFEASIBLE_OR_UNBOUNDED` means `INFEASIBLE` because there is no objective so it cannot be unbounded
@info("Infeasibility certificate found : dual is $(dual_status(model))")
if γ == γ0_min # This corresponds to the case above where we reached the tol or max iteration and we just did a last run at the value of `γ_min` provided by the user
error("The value `$γ0_min` of `γ_min` provided is not feasible")
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