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[WAVE 2][RTR] Validate parameter interpolation types #1067

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[WAVE 2][RTR] Validate parameter interpolation types #1067

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a0d1d86
Validate parameter interpolation types
mickaelbegon Jul 22, 2026
27de531
Fix NMPC parameter interpolation
mickaelbegon Jul 26, 2026
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4 changes: 4 additions & 0 deletions bioptim/optimization/optimal_control_program.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1093,6 +1093,8 @@ def update_bounds(
)

for key in parameter_bounds.keys():
if parameter_bounds[key].type != InterpolationType.CONSTANT:
raise ValueError(f"Parameter bounds for '{key}' must use InterpolationType.CONSTANT")
self.parameter_bounds.add(key, parameter_bounds[key], phase=0)

for nlp in self.nlp:
Expand Down Expand Up @@ -1156,6 +1158,8 @@ def update_initial_guess(
)

for key in parameter_init.keys():
if parameter_init[key].type != InterpolationType.CONSTANT:
raise ValueError(f"Parameter initial guess for '{key}' must use InterpolationType.CONSTANT")
self.parameter_init.add(key, parameter_init[key], phase=0)

def add_plot(self, fig_name: Str, update_function: Callable, phase: Int = -1, **parameters: Any) -> None:
Expand Down
2 changes: 1 addition & 1 deletion bioptim/optimization/receding_horizon_optimization.py
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Expand Up @@ -918,7 +918,7 @@ def _initialize_one_cycle(self, dt: Float, states: AnyDict, controls: AnyDict, p
p_init.add(
key,
parameters_tp,
interpolation=InterpolationType.EACH_FRAME,
interpolation=InterpolationType.CONSTANT,
phase=0,
)

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10 changes: 10 additions & 0 deletions tests/shard6/test_update_bounds_and_init.py
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Expand Up @@ -212,6 +212,16 @@ def my_parameter_function(bio_model, parameter: Parameter, extra_value):
parameter_bounds=parameter_bounds,
)

invalid_parameter_bounds = BoundsList()
invalid_parameter_bounds.add("gravity_z", min_bound=[g_min], max_bound=[g_max])
with pytest.raises(ValueError, match="Parameter bounds for 'gravity_z' must use InterpolationType.CONSTANT"):
ocp.update_bounds(parameter_bounds=invalid_parameter_bounds)

invalid_parameter_init = InitialGuessList()
invalid_parameter_init.add("gravity_z", [[g_init, g_init]], interpolation=InterpolationType.LINEAR)
with pytest.raises(ValueError, match="Parameter initial guess for 'gravity_z' must use InterpolationType.CONSTANT"):
ocp.update_initial_guess(parameter_init=invalid_parameter_init)

# Before modifying
expected = np.array([[0.1] + [-np.inf] * (nq * 2) * (ns + 1) + [-np.inf] * nq * ns + [g_min]]).T
npt.assert_almost_equal(ocp.bounds_vectors[0], expected)
Expand Down
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