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Commits on Nov 27, 2024
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MATLAB: fix globalization related options in legacy interface (#1374)
- `globalization_alpha_min` - `globalization_alpha_reduction` - `globalization_line_search_use_sufficient_descent` - `globalization_use_SOC` - `globalization_full_step_dual` - `globalization_eps_sufficient_descent` - `globalization_fixed_step_length` Reported in https://discourse.acados.org/t/globalization-not-being-parametrised-correctly-through-legacy-functions-when-using-new-matlab-interface/1892
Commits on Nov 28, 2024
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Python: optional parametrization of
Wwhen reformulating (non)linea……r least-squares cost as external cost (#1377) Extend `translate_cost_to_external_cost` with an optional parametrization of the weighting matrix. The user now needs to provide additional `p` and `p_global` symbolics (and values). Also: Improve checks in setters of `parameter_values` and `p_global_values`
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Python: Q-function gradient wrt u (#1380)
This PR extends `eval_and_get_optimal_value_gradient` to allow for an evaluation of the gradient of the state-action value function (aka Q-function).
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Python: allow getting sensitivities wrt.
pi,lam,sl,su(#1381)The additional, optional fields `return_sens_x`, `return_sens_u`, `return_sens_pi`, `return_sens_lam`, `return_sens_su`, `return_sens_sl` allow to specify which sensitivities should be returned. Breaking: The return type of `eval_solution_sensitivity` changes: We now return a dict with fields `sens_x`, `sens_u`, `sens_pi`, `sens_lam`, `sens_su`, `sens_sl` if the corresponding flag has been set.
Commits on Nov 29, 2024
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Python: use [] as default for CasADi expressions consistently (#1382)
Before, we inconsistently used `None` and `[]`. For CasADi expressions `[]` is more suitable, since it is compatible with `casadi.vertcat`. Breaking: default types of fields in `AcadosModel` that might be symbolic have changed to `[]`.
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Update Octave installation instructions (#1384)
Addresses issue reported in https://discourse.acados.org/t/beginner-octave-installation/1904/2
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Python: improve globalization test (#1386)
- test all cases - add check - simplify
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Python/Matlab: More efficient code generation for MOCP models (#1383)
This PR ignores non-required stages in code generation for multi-phase OCPs. This way the code generation overhead is reduced. If global parameters are used, this might also avoid the computation of parametric expressions which are not needed.
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Documentation: User guide and feature by example list (#1375)
Add user guide to docs page containing: - problem formulation - troubleshooting - features by example --------- Co-authored-by: sandmaennchen <katrin.baumgaertner@posteo.de>
Commits on Dec 1, 2024
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Globalization Matlab Example (#1388)
Introduced the `convex_problem_globalization_needed.py` also in Matlab given by `convex_problem_globalization_needed.m` --------- Co-authored-by: Jonathan Frey <jonathanpaulfrey@gmail.com>
Commits on Dec 2, 2024
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MATLAB: check values in
idxbx[_0,_e]andidxbu(#1390)This PR adds a check for the indices related to simple bounds. --------- Co-authored-by: Jonathan Frey <jonathanpaulfrey@gmail.com>
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