LinesearchVariant::init() should not be called unless the step accpetance strategy is a linesearch

Author: ManifoldFR

CHANGELOG.md

@@ -7,6 +7,10 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+### Fixed
+
+- `LinesearchVariant::init()` should not be called unless the step accpetance strategy is a linesearch
+
 ## [0.10.0] - 2024-12-09
 
 ### Added

include/aligator/solvers/proxddp/solver-proxddp.hxx

@@ -147,7 +147,9 @@ void SolverProxDDPTpl<Scalar>::setup(const Problem &problem) {
   if (!problem.checkIntegrity())
     ALIGATOR_RUNTIME_ERROR("Problem failed integrity check.");
 
-  linesearch_.init(sa_strategy_, ls_params);
+  if (int(sa_strategy_) <= 1) {
+    linesearch_.init(sa_strategy_, ls_params);
+  }
 
   results_.~Results();
   workspace_.~Workspace();