From ff47a050e6e421aa12e0d28105c61b884e56c544 Mon Sep 17 00:00:00 2001
From: Quentin Leboutet <83397705+quentin-leboutet@users.noreply.github.com>
Date: Fri, 1 Sep 2023 16:31:37 +0200
Subject: [PATCH] Update generateExcitationTrajectory.m

Solving a bug related to MaxFunctionEvaluations in the trajectory generation routine. Thank you @jimi1970 for spotting this.
---
 .../Trajectory_Data_Generation/generateExcitationTrajectory.m  | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/Benchmark/Robot_Data_Generation/Trajectory_Data_Generation/generateExcitationTrajectory.m b/Benchmark/Robot_Data_Generation/Trajectory_Data_Generation/generateExcitationTrajectory.m
index 57b0f26..6c1b86c 100644
--- a/Benchmark/Robot_Data_Generation/Trajectory_Data_Generation/generateExcitationTrajectory.m
+++ b/Benchmark/Robot_Data_Generation/Trajectory_Data_Generation/generateExcitationTrajectory.m
@@ -74,8 +74,7 @@ if generateNewTrajectoryParameters == true
     
     while iteration<benchmarkSettings.max_traj_it && fval_final > 5
         if strcmp(alg,'fmin') % 'interior-point' (default), 'trust-region-reflective', sqp', 'sqp-legacy', 'active-set'. 
-            %options = optimoptions('fmincon','Algorithm' ,'interior-point', 'Display','iter', 'MaxFunctionEvaluations', 10000*robot.nbDOF, 'UseParallel', true);
-            options = optimoptions('fmincon','Algorithm' ,'interior-point', 'Display','iter', 'MaxFunctionEvaluations', 10, 'UseParallel', true);
+            options = optimoptions('fmincon','Algorithm' ,'interior-point', 'Display','iter', 'MaxFunctionEvaluations', 10000, 'UseParallel', true);
             [trajectoryParameters_optim,fval,exitFlag] = fmincon(fun, 0.1*(-2 + 4*rand(nbVars, 1)), [], [], Aeq, beq, [], [], nonlcon, options);
         elseif strcmp(alg,'ga')
             population = 240;