HaraldSchafer 04cf12cb00 ACADOS fix non-convergence when long_plan changes (#22495) ...

* debug commit

* cleanup

* some indexing bugs

* need more its

* BALANCE is way better it seems

* fix test

* this converges in 2000segs

* new ref

* less cpu

2021-10-10 00:05:29 -07:00

173 B

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