Update README.md - Variable scaling #923
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| ### Class VariableScalingList | ||
| A VariableScalingList is a list of VariableScaling. | ||
| The `add()` method can be called exactly as if one was calling the `VariableScaling` constructor. | ||
| The scaling applied to the optimization variables determines how they are represented within the `OptimalControlProgram`. The goal is to keep all variables in the optimization problem within an order of magnitude close to 1, which improves numerical conditioning and solver performance. This applies to `x_scaling`, `xdot_scaling`, and `u_init` parameters. If the expected value of a variable is of order `0.1`, then the scaling factor should be `0.1` to bring the variable closer to `O(1)`, as `0.1 / 0.1 = 1`. |
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Yes, thanks !
-
Could you please change "
u_initparameters" for "u_scaling" ? -
And add something like: "Bioptim will apply the scaling to all initial guesses and bounds entered by the user automatically. However, the
targetin objectives and constraints should be scaled by the user (see Issue Scaling of targets #848 ). In addition, there might be unexpected behaviors on the plots, but be assured that it does not represent what is happening internally in Bioptim."
@EveCharbie is that clearer ?
This change is