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base: v0.3.5
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  • 11 commits
  • 80 files changed
  • 2 contributors

Commits on Aug 2, 2024

  1. One sided constraint support for HPIPM solvers (#1174) 

    - add `ACADOS_INFTY` in Python and C, `get_acados_infty` in Matlab.
- If any constraints have bounds `ACADOS_INFTY`, the constraint is
marked as not relevant in the QP representation object `ocp_qp`, by
setting the corresponding `d_mask` values to `0`.
- The underlying QP solver interface should make use of this mask.
- The HPIPM solvers do make use of this natively.
- For now the value is `ACADOS_INFTY=1e10` which might can be changed
later after some more extensive testing.
- Support for that in QP solvers other than HPIPM is not included in
this PR and tracked in #650
    @FreyJo
    FreyJo authored Aug 2, 2024
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Commits on Aug 8, 2024

  1. Fix external_function_external_param_casadi (#1189) 

    fixes call to `external_function_external_param_casadi_calculate_size`

- reported in #1186
- introduced in #1163
    @sandmaennchen
    sandmaennchen authored Aug 8, 2024
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Commits on Aug 9, 2024

  1. Minor documentation update (#1187) 

    Minor docstring update for
* custom update
* regularization options
    @sandmaennchen
    sandmaennchen authored Aug 9, 2024
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  2. Matlab: Getter for condensed QP matrices (#1188) 

    This PR fixes the getter for `qp_solver_cond_H` for partially condensed
OCPs.

---------

Co-authored-by: Jonathan Frey <jonathanpaulfrey@gmail.com>
    @sandmaennchen @FreyJo
    sandmaennchen and FreyJo authored Aug 9, 2024
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  3. Compile acados with BUILD_TYPE = DEBUG on Github actions (#1191) 

    - in order to check asserts on CI to avoid issues like
#1186
    @FreyJo
    FreyJo authored Aug 9, 2024
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  4. Matlab example cleanup (#1192) 

    - MATLAB examples: rename `ocp` to `ocp_solver`
- MATLAB examples: rename `sim` to `sim_solver`
- remove outdated Matlab example code related to non template based
backend
- MATLAB examples test: clear variables that might contain CasADi
objects to avoid SWIG warnings
    @FreyJo
    FreyJo authored Aug 9, 2024
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Commits on Aug 12, 2024

  1. Use d_mask in DAQP interface to handle one-sided constraints (#1175) 

    See #1174 and
#650
    @FreyJo
    FreyJo authored Aug 12, 2024
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Commits on Aug 16, 2024

  1. Minor Python changes from aligning Matlab (#1197) 

    - add `json_file` property with defaults in class, as this is dumped to
json.
- set `Tsim` in `make_consistent`
- formatting
- remove redundant check for terminal cost
    @FreyJo
    FreyJo authored Aug 16, 2024
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  2. MEX: always use CMake for generated code (#1198) 

    Since we only test Matlab/Octave on CI with Linux, we should use CMake
to be closer to testing Windows workflow.
    @FreyJo
    FreyJo authored Aug 16, 2024
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  3. Add references to documentation (#1200) 

    - Preprint on: 'Multi-Phase Optimal Control Problems for Efficient
Nonlinear Model Predictive Control with acados'
- Nonlinear MPC for Quadrotors in Close-Proximity Flight with Neural
Network Downwash Prediction, shared in
https://discourse.acados.org/t/acados-featured-work-collection/265/11

---------

Co-authored-by: sandmaennchen <katrin.baumgaertner@posteo.de>
    @FreyJo @sandmaennchen
    FreyJo and sandmaennchen authored Aug 16, 2024
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  4. Print note if QP solver does not support one-sided constraints (#1202)

    @sandmaennchen
    sandmaennchen authored Aug 16, 2024
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