Loco3d isn't working properly
Last introduced changes into the devel branch have broken loco3d example. I have a created a stable branch called ws-memmo-stable. If you run this example you will solve the problem in 12 iterations, i.e.:
iter cost theta gamma muV muLM alpha
0 1.75872e+06 3.98534e+06 1.01608e+06 1.00000e-02 1.00000e-02 1.0000
1 6.60072e+05 9.28538e+08 3.50822e+06 1.00000e-03 1.00000e-03 1.0000
2 1.93708e+05 3.47277e+08 1.31831e+06 1.00000e-04 1.00000e-04 1.0000
3 4.85036e+03 6.01492e+07 3.86368e+05 1.00000e-05 1.00000e-05 1.0000
4 2.82749e+03 1.05953e+06 8.79187e+03 1.00000e-06 1.00000e-06 1.0000
5 4.71661e+02 1.29975e+06 4.75193e+03 1.00000e-07 1.00000e-07 1.0000
6 4.51319e+02 9.22240e+03 4.06813e+01 1.00000e-08 1.00000e-08 1.0000
7 4.51314e+02 1.38772e-01 9.56833e-03 1.00000e-09 1.00000e-09 1.0000
8 4.51314e+02 7.62827e-04 4.85457e-04 1.00000e-09 1.00000e-09 1.0000
9 4.51314e+02 2.00224e-06 3.00853e-05 1.00000e-09 1.00000e-09 1.0000
iter cost theta gamma muV muLM alpha
10 4.51314e+02 1.90981e-07 1.93638e-06 1.00000e-09 1.00000e-09 1.0000
11 4.51314e+02 5.75616e-09 1.24004e-07 1.00000e-09 1.00000e-09 1.0000
12 4.51314e+02 7.42638e-10 8.06495e-09 1.00000e-09 1.00000e-09 1.0000Instead, in the devel branch, the solver has a different behavior. Here I copy the DDP message too:
iter cost theta gamma muV muLM alpha
0 7.53815e+46 3.77177e+06 8.72299e+05 1.00000e+00 1.00000e+00 0.0000
1 3.65757e+42 5.47056e+06 1.31866e+06 1.00000e+01 1.00000e+01 0.0000
2 2.30678e+09 7.01361e+07 4.69930e+06 1.00000e+00 1.00000e+00 1.0000
3 1.67730e+09 5.62086e+12 4.61317e+09 1.00000e+00 1.00000e+00 0.2500
4 1.55820e+09 4.60957e+12 3.35425e+09 1.00000e+00 1.00000e+00 0.2500
5 1.12005e+09 2.89529e+12 3.11616e+09 1.00000e+00 1.00000e+00 0.2500
6 8.76228e+08 2.17428e+12 2.23990e+09 1.00000e+00 1.00000e+00 0.2500
7 7.15921e+08 1.75808e+12 1.75231e+09 1.00000e+00 1.00000e+00 0.2500
8 4.28476e+08 1.19394e+12 1.43173e+09 1.00000e+00 1.00000e+00 0.2500
9 2.47311e+08 5.40801e+11 8.56837e+08 1.00000e+00 1.00000e+00 0.2500
iter cost theta gamma muV muLM alpha
10 8.53853e+07 2.82511e+11 4.94484e+08 1.00000e+00 1.00000e+00 0.2500
11 3.96111e+07 1.65165e+11 1.70688e+08 1.00000e+00 1.00000e+00 0.2500
12 2.16717e+07 7.91395e+10 7.91490e+07 1.00000e+00 1.00000e+00 0.2500
13 1.40370e+07 3.51707e+10 4.32783e+07 1.00000e+00 1.00000e+00 0.2500
14 9.90537e+06 1.83986e+10 2.80126e+07 1.00000e+00 1.00000e+00 0.2500
15 6.57789e+06 1.45915e+10 1.97505e+07 1.00000e+00 1.00000e+00 0.2500
16 1.55569e+06 1.10794e+10 1.30963e+07 1.00000e-01 1.00000e-01 1.0000
17 6.59625e+05 5.73412e+09 3.05976e+06 1.00000e+00 1.00000e+00 0.2500
18 3.68644e+05 1.23610e+09 1.26543e+06 1.00000e+00 1.00000e+00 0.2500
19 2.09643e+05 5.77731e+08 6.84087e+05 1.00000e+00 1.00000e+00 0.2500
iter cost theta gamma muV muLM alpha
20 1.23125e+05 2.66467e+08 3.66686e+05 1.00000e+00 1.00000e+00 0.2500
21 7.67193e+04 1.21425e+08 1.94233e+05 1.00000e+00 1.00000e+00 0.2500
22 5.24437e+04 5.52391e+07 1.01970e+05 1.00000e+00 1.00000e+00 0.2500
23 4.01048e+04 2.60986e+07 5.39266e+04 1.00000e+00 1.00000e+00 0.2500
24 3.39436e+04 1.39501e+07 2.97139e+04 1.00000e+00 1.00000e+00 0.2500
25 3.08094e+04 9.18165e+06 1.78145e+04 1.00000e+00 1.00000e+00 0.2500
26 2.90735e+04 7.29448e+06 1.19314e+04 1.00000e+00 1.00000e+00 0.2500
27 2.79570e+04 6.32334e+06 8.81127e+03 1.00000e+00 1.00000e+00 0.2500
28 2.71219e+04 5.52784e+06 6.89981e+03 1.00000e+00 1.00000e+00 0.2500
29 2.64381e+04 4.71449e+06 5.52713e+03 1.00000e+00 1.00000e+00 0.2500
iter cost theta gamma muV muLM alpha
30 2.58613e+04 3.89433e+06 4.43293e+03 1.00000e+00 1.00000e+00 0.2500
31 2.53759e+04 3.12486e+06 3.53579e+03 1.00000e+01 1.00000e+01 0.2500
32 2.41738e+04 2.62946e+06 2.34273e+03 1.00000e+00 1.00000e+00 1.0000
33 2.40709e+04 4.33516e+03 5.14949e+02 1.00000e+00 1.00000e+00 0.2500
34 2.39804e+04 5.36665e+04 5.30135e+02 1.00000e+01 1.00000e+01 0.2500
35 2.38733e+04 1.34771e+05 1.62225e+02 1.00000e+00 1.00000e+00 1.0000
36 2.37769e+04 1.84405e+05 6.82446e+02 1.00000e+01 1.00000e+01 0.2500
37 2.37126e+04 4.13769e+04 8.07528e+01 1.00000e+00 1.00000e+00 1.0000
38 2.36214e+04 5.16574e+03 4.10927e+02 1.00000e+01 1.00000e+01 0.2500
39 2.35641e+04 3.11942e+04 6.99857e+01 1.00000e+00 1.00000e+00 1.0000
iter cost theta gamma muV muLM alpha
40 2.34763e+04 4.69379e+03 3.87751e+02 1.00000e+01 1.00000e+01 0.2500
41 2.34239e+04 2.40319e+04 6.25537e+01 1.00000e+00 1.00000e+00 1.0000
42 2.33394e+04 4.27656e+03 3.67872e+02 1.00000e+01 1.00000e+01 0.2500
43 2.32906e+04 1.85578e+04 5.72476e+01 1.00000e+00 1.00000e+00 1.0000
44 2.32085e+04 3.91867e+03 3.54430e+02 1.00000e+01 1.00000e+01 0.2500
45 2.31622e+04 1.46491e+04 5.37430e+01 1.00000e+00 1.00000e+00 1.0000
...I didn't test in other examples but it probable to find an undesired behavior. @rbudhira could you inspect which changes are produced this bug?