From 8ceba33d939deef5f512ee9cd327befa00de264a Mon Sep 17 00:00:00 2001
From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
Date: Sat, 30 Nov 2024 13:01:09 -0500
Subject: [PATCH] Initialize with the best seed instead of initial seed at
 population wipeout (#77)

---
 src/ik_memetic.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/ik_memetic.cpp b/src/ik_memetic.cpp
index d0ce2f8..34cfb60 100644
--- a/src/ik_memetic.cpp
+++ b/src/ik_memetic.cpp
@@ -254,8 +254,9 @@ auto ik_memetic_impl(std::vector<double> const& initial_guess,
             return ik.best();
         }
         if (ik.checkWipeout()) {
+            // Ensure the first member of the new population is the best so far.
             if (print_debug) fmt::print("Population wipeout\n");
-            ik.initPopulation(robot, cost_fn, initial_guess);
+            ik.initPopulation(robot, cost_fn, ik.best().genes);
         }
 
         // Check termination condition from other threads finding a solution.