About the example

[StevenCao007]

I've noticed that most of the examples provided in the C++ code fail to converge to a reasonable solution, except for "three_player_intersection". Some examples finish the calculation in just one or two iterations, while others iterate many times but still fail to meet the constraints or achieve the desired tasks such as "obstacle avoidance" or "overtaking". I'm wondering where I should start to adjust the code. Could it be that the initial "OperatingPoint" is of poor quality?

[dfridovi]

There are several related possibilities:

• the initial operating point might not be good enough
• some of the hyperparameters may need adjusting, eg. pertaining to the linesearch procedure or regularization strength

The reason for these issues is almost certainly that a commit for an unrelated example introduced breaking changes for others which did not get caught because the unit tests do not cover these integrated scenarios. So that is to say: if you find good fixes, or better yet create better integration tests, a PR would be most welcome.