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[HOLD] Reject all-points control initial guesses #1066

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[HOLD] Reject all-points control initial guesses #1066

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8bac22f
Reject all-points control initial guesses
mickaelbegon Jul 22, 2026
10fce63
Merge remote-tracking branch 'origin/master' into codex/fix-970-contr…
mickaelbegon Jul 22, 2026
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3 changes: 3 additions & 0 deletions bioptim/optimization/non_linear_program.py
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Expand Up @@ -304,6 +304,9 @@ def update_init(
self, x_init: InitialGuessList | None, u_init: InitialGuessList | None, a_init: InitialGuessList | None
) -> None:

if u_init is not None and u_init.type == InterpolationType.ALL_POINTS:
raise ValueError("InterpolationType.ALL_POINTS cannot be used for control initial guesses")

if x_init is not None or a_init is not None:
not_direct_collocation = not self.dynamics_type.ode_solver.is_direct_collocation
x_init_all_point = x_init.type == InterpolationType.ALL_POINTS if x_init is not None else False
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4 changes: 2 additions & 2 deletions tests/shard2/test_global_getting_started.py
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Expand Up @@ -426,8 +426,8 @@ def test_initial_guesses(ode_solver, interpolation, random_init, phase_dynamics)

np.random.seed(42)

if interpolation == InterpolationType.ALL_POINTS and ode_solver.is_direct_shooting:
with pytest.raises(ValueError, match="InterpolationType.ALL_POINTS must only be used with direct collocation"):
if interpolation == InterpolationType.ALL_POINTS:
with pytest.raises(ValueError, match="InterpolationType.ALL_POINTS cannot be used for control initial guesses"):
_ = ocp_module.prepare_ocp(
biorbd_model_path=bioptim_folder + "/examples/models/cube.bioMod",
final_time=1,
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