Should stuff be time-shifted on tiny_solve entry?

[peterkrull]

With tiny_solve being called at every time step $k \leftarrow k + 1$, and the contents of the workspace struct being carried over, shouldn't some of this content be shifted in time?

I am specifically looking at the first forward pass, where the column vectors of the d-matrix are unique for every time step, and carry the previously optimized information. In my mind, it should be shifted prior to doing any iterations to get the best starting point for optimizing further. Likewise for the vectors in y and g which are reused before they are overwritten. I am thinking of something like

for (int i = 0; i < NHORIZON - 1; i++)
{
    solver->work->d.col(i) = solver->work->d.col(i+1);
    solver->work->y.col(i) = solver->work->y.col(i+1);
    solver->work->g.col(i) = solver->work->g.col(i+1);
}

at the start of tiny_solve.

In my quick testing this can give some more 'gradual' or 'incremental' convergence, allowing for a lower number of max iterations. I am curious if there are any downsides to this approach that I am missing.