Releases: nosnoc/nosnoc
Releases · nosnoc/nosnoc
v0.8.0
What's Changed
- C++ solver generation by @apozharski in #126
- hotfix: remove duplicate function in ocp.Solver by @apozharski in #131
- update URLs to match migration to nosnoc by @FreyJo in #132
- Update test suite and migrate it to new design. by @apozharski in #134
- Add cdc paper examples by @apozharski in #136
- Alternative integrator implementation for PSS by @apozharski in #140
- add
getandget_fullwrapper toFullMpccmpc mode by @apozharski in #139 - Finish moving to integrator namespace by @apozharski in #141
- Add initial support for a cleaner interface for the first order dynamics model by @apozharski in #135
Full Changelog: v0.7.0...v0.8.0
Contributors
apozharski and FreyJo
Assets 2
nosnoc v0.7.0
What's Changed
- Implement required modifications for vdx speedup by @apozharski in #121
- Mpcc solver relaxation sorting. by @apozharski in #123
- New design pss examples by @apozharski in #120
- New design remaining examples by @apozharski in #124
- vdx updates to fix bugs in pending assignments by @apozharski in #127
Full Changelog: v0.6.0...v0.7.0
Contributors
apozharski
Assets 2
NOSNOC v0.6.0
What's Changed
The new release features a complete redesign of the nosnoc core with a more modular structure, with new classes for each type of nonsmooth system and everything that follows from it.
The MPCC solver can also be used standalone, independent of optimal control problems.
Notably, a new class of nonsmooth systems, namely projected dynamical systems are now supported.
We also introduce a detailed documentation page for nosnoc.
During the transition, both the old and the new core are supported. The next release will only support the new interface, which requires only minimal changes to existing examples.
More details:
- Initial extraction of NosnocSolver to work for generic MPCCs by @apozharski in #62
- Fix verbose output for
mpccsolby @apozharski in #88 - Stationarity calculation and polishing by @apozharski in #89
- Fix bug in identifying scalar parts of complementarity vectors by @apozharski in #91
- Full nosnoc pipeline for pss using the Stewart reformulation by @apozharski in #90
- initial rtd skeleton by @nurkanovic in #105
- New design Heaviside pipeline by @apozharski in #99
- New design PDS/FOSwP pipeline by @apozharski in #100
- PDS OCP accuracy experiment and bugfixes. by @apozharski in #114
- New design CLS Pipeline by @apozharski in #101
- New design time freezing by @apozharski in #106
Full Changelog: v0.5.0...v0.6.0
Contributors
apozharski and nurkanovic
Assets 2
NOSNOC v0.5.0
What's Changed
- Robot example by @apozharski in #43
- Splitting NLP and MPCC generation by @apozharski in #44
- Sigma Scaling, wall time timeouts, and fixes/changes to convergence checks. by @apozharski in #45
- Fix bug caused by not including endpoints in cross complementarity by @apozharski in #47
- Cart pole example refactor and add smoothing. by @FreyJo in #46
- Move all discretization options from model to problem_options by @FreyJo in #50
- Add Matlab version requirement R2021b or later by @FreyJo in #51
- Correctly add switching constraints to last FE of stage by @apozharski in #52
- Solver plugins, better user defined algebraics for step, and simple switching cases testing by @apozharski in #49
- Fixes for spontaneous switch via initialization by @FreyJo in #54
- Addressing Issue with Throwing ball example. by @apozharski in #56
- Fix nu function and step equilibration options. Implement CLS nu function by @apozharski in #57
- check for use_fesd in cross comp mode code by @apozharski in #58
- Update README.md by @nurkanovic in #59
- Cleaner regularization code by @apozharski in #60
- Stationarity Checks and various bugfixes by @apozharski in #61
Full Changelog: v0.4.0...v0.5.0
Contributors
apozharski, FreyJo, and nurkanovic
Assets 2
NOSNOC v0.4.0
Changes summary:
- support formulating Complementarity Lagrangian System (CLS)
- clean up output of solver and integrator
- Introduce
NosnocModelclass - Introduce
NosnocSolverclass - cleanup
- add
NosnocIpoptCallback - add support for different C-Functions
- and more.
- Code is tested with MATLAB R2021b
This release contains the code to reproduce all results in our latest submitted paper:
"FESD-J: Finite Elements with Switch Detection for Numerical Optimal Control of Rigid Bodies with Impacts and Coulomb Friction" by Armin Nurkanović, Jonathan Frey, Anton Pozharskiy, Moritz Diehl
NOSNOC v0.3.0
What's Changed
- Mpcc clean up by @nurkanovic in #27
- Variable rename, and adding g_switching_fun to model by @apozharski in #28
- Classification by @apozharski in #30
- Simple General Inclusions by @apozharski in #31
- User algebraics by @apozharski in #32
- work on cart pole example by @FreyJo in #33
- Remove matlab subdirectory structure. by @apozharski in #34
- Globals by @apozharski in #35
- fixing bug in addVariable by @apozharski in #36
- Time freezing multi by @nurkanovic in #37
- Perf improvements via Removal of Duplication of lambda/theta Calculation by @nurkanovic in #38
- added optional constraint stabilization in time-freezing by @nurkanovic in #39
- Options class with input validation by @apozharski in #40
Full Changelog: v0.2.0...v0.3.0
Contributors
apozharski, FreyJo, and nurkanovic
Assets 2
NOSNOC v0.2.0
What's Changed
- Set n_lift_eq to n_simplex to strip away enough theta constraints by @apozharski in #24
- add nosnoc_py as a submodule 🚀 by @FreyJo in #25
- Index refactor by @apozharski in #26
Full Changelog: v0.1.1...v0.2.0
Contributors
apozharski and FreyJo
Assets 2
NOSNOC v0.1.1
What's Changed
- Fix no fesd version by removing infeasible constraint T=0 by @FreyJo in #12
- Print improvements by @FreyJo in #13
- Add lambda00 to fix implicit Euler, Cleanup parameters by @FreyJo in #14
- Fix lambda00 for multi simplex model and x0 in homotopy_solver by @FreyJo in #15
- Add basic testing using gitub actions, and an example matlab test. by @apozharski in #16
- Fix Matlab incomptibility, Improve prints, minor example changes by @FreyJo in #17
- Superlinear rule for homotopy updated and clean up of time-freezing by @nurkanovic in #18
- Fix bugs with use_fesd = 0 and refactor everything around time transformations by @nurkanovic in #19
- Remove outdated opts by @FreyJo in #20
- Polished step equilibration, polished all examples, more compact solver outputs. by @nurkanovic in #21
- Change License to 2-clause BSD by @FreyJo in #22
- License follow-up by @FreyJo in #23
Full Changelog: v0.1.0...v0.1.1
Contributors
apozharski, FreyJo, and nurkanovic
Assets 2
NOSNOC v0.1.0
First NOSNOC release
New Contributors
- @nurkanovic made their first contribution in #1
- @FreyJo made their first contribution in #3
- @apozharski made their first contribution in #7
Full Changelog: https://github.com/nurkanovic/nosnoc/commits/v0.1.0
Contributors
apozharski, FreyJo, and nurkanovic