Releases · acados/acados

@sandmaennchen

Highlights

Documentation update with videos of real-world examples: https://docs.acados.org/real_world_examples/index.html
Enable specifying problems with N_horizon=0
Improvements of solution sensitivity functionality

Breaking changes

C interface:

Changes introduced in #1333

ocp_nlp_out_set now requires nlp_in as additional argument
ocp_nlp_constraints_model_set now requires nlp_out as additional argument
ocp_nlp_out needs to be created before ocp_nlp_in

What's Changed

Consistent mask and multipliers by @sandmaennchen in #1333
Globalization: fix iteration number in merit backtracking by @FreyJo in #1492
C: cleanup qp_res option and memory by @FreyJo in #1494
Step norm logging by @FreyJo in #1495
C: avoid using local variable sqp_iter by @FreyJo in #1496
Template: avoid openmp dependency when not batched by @FreyJo in #1497
Allow solver_options.N_horizon=0 by @Confectio in #1498
Modify AcadosOcpBatchSolver to use flexible batch size by @FreyJo in #1460
Fix typo: intial -> initial by @FreyJo in #1500
Python verbosity by @FreyJo in #1501
Interfaces: check for u, z dependencies of terminal cost and constraints by @FreyJo in #1502
Condense qp_out by @FreyJo in #1474
Document cmake options by @FreyJo in #1503
Update README to highlight the most important acados features by @FreyJo in #1504
Simulink: levenberg_marquardt as optional input by @FreyJo in #1507
Add real-world examples with videos to documentation page by @FreyJo in #1508
add our application on tiltable quadrotors to "real_world_examples" by @Li-Jinjie in #1510
Docs: minor changes and update build requirements by @FreyJo in #1509
Improve Solution Sensitivity related tests and examples by @FreyJo in #1513
Fix docs by @sandmaennchen in #1514
Python/MATLAB: Check CasADi expressions of terminal stage by @sandmaennchen in #1506
Test forward vs. adjoint solution sensitivities on CI with quick settings by @FreyJo in #1515
Ignore sim stuff in build templates if N==0 by @FreyJo in #1516
Updates with respect to new HPIPM sensitivity API by @FreyJo in #1512

Full Changelog: v0.4.5...v0.5.0

@FreyJo

Highlights

New regularization method: Gershgorin Levenberg Marquardt regularization #1473
More granular error handling in python #1478

What's Changed

Refactor ext_fun_expand option, implement more granular options instead by @FreyJo in #1467
C: Minor cleanup by @FreyJo in #1465
Follow up to #1462 by @FreyJo in #1471
Gershgorin Levenberg Marquardt regularization by @FreyJo in #1473
Export OCP solver in Python and use it in Matlab by @FreyJo in #1472
Python: Implement reformulation as external cost with Gauss-Newton for LS/NLS by @FreyJo in #1476
Python: checks on external checks by @FreyJo in #1477
Symbolic cost parameters by @dirkpr in #1479
Fix get_path_cost_expression for CONVEX_OVER_NONLINEAR by @FreyJo in #1480
MATLAB: migrate example to new interface, add extensive timing evaluation, improve checks by @FreyJo in #1482
Stagewise translate by @dirkpr in #1481
Python: Model with properties by @sandmaennchen in #1484
Dynamic num threads in batch solvers by @Confectio in #1483
Fix Github Action errors by @FreyJo in #1487
Update CasADi version to 3.7 by @FreyJo in #1485
Update automatic CasADi matlab install by @FreyJo in #1488
Update solution sensitivity examples by @FreyJo in #1489
Improving Exception Handling in acados Python Template by @Li-Jinjie in #1478
MATLAB: AS-RTI closed-loop example by @FreyJo in #1490
Fix globalization calls in AS-RTI by @FreyJo in #1491

New Contributors

@Li-Jinjie made their first contribution in #1478

Full Changelog: v0.4.4...v0.4.5

@aghezz1

Highlights

New nlp_solver_type: SQP_WITH_FEASIBLE_QP, see #1444
Solution of smoothed KKT systems, see option tau_min and #1439
Improved solution sensitivity functionality, see function setup_qp_matrices_and_factorize #1434

What's Changed

Fix detect constraint for python interface by @aghezz1 in #1393
MATLAB: fix getter for QP values at terminal stage by @sandmaennchen in #1394
MATLAB/Python: Add check whether p_global is defined, but global_data is empty by @sandmaennchen in #1396
Python: Cleanup code generation, sim solver by @sandmaennchen in #1397
Python: update setup.py by @sandmaennchen in #1400
Python: use context for temporarily changing directory by @sandmaennchen in #1399
C interface/Python: Getter for numerical values by @sandmaennchen in #1395
Simulink: Fix nh_total dimension in sfunction by @sandmaennchen in #1403
Python: build and generate flags for batch solvers by @sandmaennchen in #1404
C/Python: Fix solver status in batch solve by @sandmaennchen in #1405
MATLAB: Use flat getters and setters by @sandmaennchen in #1406
MATLAB/Python: Cleanup examples by @sandmaennchen in #1409
MATLAB: Migrate test to new interface by @sandmaennchen in #1411
Simulink: More effiicient setters/getters using flat format by @sandmaennchen in #1410
Evaluator by @RudolfReiter in #1402
MATLAB: no quit() by @sandmaennchen in #1412
Add ACADOS_WITH_SYSTEM_BLASFEO CMake option (by default OFF) to use an external blasfeo instead of building an internal copy of blasfeo by @traversaro in #1408
C: More total dimension getters by @sandmaennchen in #1416
MATLAB/C: more flat setters in interface by @sandmaennchen in #1417
MATLAB: Fix dimension in setter for W by @sandmaennchen in #1418
MATLAB: flat setter example by @sandmaennchen in #1420
MATLAB/Python: New option to expand CasADi function to SX before code generating by @sandmaennchen in #1419
CasADi codegen option to avoid unneeded sparsity patterns in MATLAB by @jgillis in #1421
Follow-up on CasADi force_canonical #1421 by @FreyJo in #1424
Update documentation & contributor list by @FreyJo in #1423
Simulink: compute n_outputs correctly, taking ifs into account by @FreyJo in #1422
Remove constraint dimensions from ocp_nlp_cost_dims_get_from_attr by @FreyJo in #1425
Bump jinja2 from 3.1.4 to 3.1.5 in /docs by @dependabot in #1407
Rename acados main branch: master -> main by @FreyJo in #1427
QP warm-start in first NLP solver iteration by @FreyJo in #1428
C: allow using differnt QP solvers in ocp_nlp_solve_qp_and_correct_dual by @FreyJo in #1429
S-function hotfix: swap p_global and p_traj in template by @FreyJo in #1430
Work on sensitivity solver: add setup_qp_matrices_and_factorize and more by @FreyJo in #1432
Options getter for QP solvers, backup opts in setup_qp_matrices_and_factorize by @FreyJo in #1434
Fix qp_solver_mu0 in multi-phase template by @FreyJo in #1435
Quadrotor example: use one-sided constraint and some cleanup by @FreyJo in #1437
Github Actions: switch to ubuntu-22.04 by @FreyJo in #1438
Fix multiphase_nonlinear_constraints example wrt ACADOS_INFTY, add checks by @FreyJo in #1436
C templates/MATLAB/Python: OCPs with p_global and no global_data by @sandmaennchen in #1401
Update print_iterations by @david0oo in #1440
Solve relaxed KKT conditions and compute corresponding sensitivities by @FreyJo in #1439
MATLAB: check when updating nlp_solver_max_iter by @FreyJo in #1442
Fix AS-RTI-C by @FreyJo in #1443
Fix adjoint sensitivity timings by @FreyJo in #1445
Python: fixes regarding x0 constraint and sanity checks by @FreyJo in #1446
Ignore equalities when evaluating complementarity residual if tau_min > 0 by @FreyJo in #1448
Improve docstrings for warm start options by @Confectio in #1447
Fix acados_batch_setup_qp_matrices_and_factorize by @FreyJo in #1449
Solution sensitivity examples by @FreyJo in #1451
Fix type hints in chain_mass solution sensitivity example by @dirkpr in #1452
Remove: no global data warnings by @JasperHoffmann in #1459
Condensing: call d_cond_qp_expand_sol with options as d_cond_qp_expand_primal_sol was removed in HPIPM by @FreyJo in #1457
Implement adaptive epsilon for regularizations: MIRROR and PROJECT by @FreyJo in #1462
Use dedicated routine to solve for adjoint solution sensitivities by @FreyJo in #1454
Python: detect_cost_type by @josipkh in #1461
New nlp_solver_type: SQP_WITH_FEASIBLE_QP by @david0oo in #1444
Compute size of globalization memory correctly by @FreyJo in #1464
Logging and priniting of multipliers in SQP_WITH_FEASIBLE_QP by @david0oo in #1466

New Contributors

@RudolfReiter made their first contribution in #1402
@traversaro made their first contribution in #1408
@dependabot made their first contribution in #1407
@Confectio made their first contribution in #1447
@JasperHoffmann made their first contribution in #1459

Full Changelog: v0.4.3...v0.4.4

@FreyJo

Highlight

User guide and feature by example list on the acados docs pages 📑

Breaking changes

Python:

The return type of eval_solution_sensitivity has changed: The function 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.
The default types of fields in AcadosModel that might be CasADi symbolics or expressions have changed to [].

What's Changed

MATLAB: fix globalization related options in legacy interface by @FreyJo in #1374
Fix globalization timing: include last call in SQP and DDP; fix for SQP_RTI by @FreyJo in #1376
MOCP template: fix print, remove outdated TODO by @FreyJo in #1379
Python: optional parametrization of W when reformulating (non)linear least-squares cost as external cost by @sandmaennchen in #1377
Python: Q-function gradient wrt u by @sandmaennchen in #1380
Python: allow getting sensitivities wrt. pi, lam, sl, su by @sandmaennchen in #1381
Python: use [] as default for CasADi expressions consistently by @FreyJo in #1382
Update Octave installation instructions by @FreyJo in #1384
Python: improve globalization test by @FreyJo in #1386
Python/Matlab: More efficient code generation for MOCP models by @sandmaennchen in #1383
MATLAB: improve comment in example by @sandmaennchen in #1387
Documentation: User guide and feature by example list by @FreyJo in #1375
Globalization Matlab Example by @david0oo in #1388
Simulink: investigated copy elimination, enforce more checks in test by @FreyJo in #1391
MATLAB: check values in idxbx[_0,_e] and idxbu by @josipkh in #1390

Full Changelog: v0.4.2...v0.4.3

@FreyJo

Highlights

more efficient handling of global parameters
full support for forward and adjoint solution sensitivities for OCPs with parametric external cost, parametric constraints and parametric discrete dynamics
faster solver initialization with flat setters and getters
solver timeout
more functionality for the batch OCP solver

Breaking changes

C interface

remove ocp_nlp_solver_opts_update, opts_update is called in
ocp_nlp_solver_create
cleanup of redundant signatures:
- signature of ocp_nlp_get_from_iterate changes (takes solver and not solver AND dims)
- signature of ocp_nlp_set changes (takes solver and not solver AND config)
- signature of ocp_nlp_get changes (takes solver and not solver AND config)
- signature of ocp_nlp_get_at_stage changes (takes solver and not solver AND dims AND config)
setters for lb and ub have been removed

Python interface

concerns options with_solution_sens_wrt_params,with_solution_sens_wrt_params
eval_solution_sensitivity with argument with_respect_to ="params_global"
eval_and_get_optimal_value_gradient with argument with_respect_to = "params_global"
rename option with_respect_to='params_global' to 'p_global' with deprecation warning
Changed nlp_solver_type default from SQP_RTI to SQP

Matlab interface

Changed nlp_solver_type default from SQP_RTI to SQP

Simulink

output port KKT_residuals now also computes the residuals correctly in case of RTI.
This can significantly increase the turnaround time of the Simulink block when the output port is activated!
Input ports lh, uh included the first stage, while there is a separate port for lh_0 an uh_0.
Now the ports lh, uh only contain the intermediate stages 1 to N

What's Changed

Rework p_global to use global_data instead of memory pools by @FreyJo in #1313
C cleanup by @FreyJo in #1315
Migrate sensitivities of solution and value function of parameters to p_global by @FreyJo in #1316
Optimize global data by @FreyJo in #1317
Fix Make build system, add deprecation warning by @FreyJo in #1319
Fix memory corresponding to p_global in EXTERNAL cost module by @FreyJo in #1321
add checks in set_p_global_and_precompute_dependencies by @FreyJo in #1322
docs: build c_interface again, as it is included in interface_overview by @FreyJo in #1324
Cython wrapper: fix import typing by @FreyJo in #1329
Implement solver timeout functionality for SQP by @sandmaennchen in #1320
Fix escape-warnings in acados_template by @dirkpr in #1323
Minor cleanup by @josipkh in #1327
Python: Add translate functionality from LS/NLS/CONL cost to external cost by @sandmaennchen in #1330
Adjoint solution sensitivities with respect to global parameters by @FreyJo in #1331
Implement getter and setter for values of the whole horizon by @FreyJo in #1334
Python: Example improvements, fix checks regarding solution sensitivities by @FreyJo in #1335
Templated headers: remove get_pool_double by @FreyJo in #1336
Formatting: tabs to spaces by @FreyJo in #1339
CI: codeql use upload-artifact@v4 by @FreyJo in #1341
C interface, python: Flat setter and getter for stage-varying parameters p by @sandmaennchen in #1340
Update BLASFEO to remove POSIX alignment dependency by @FreyJo in #1342
Solution sensitivities refactoring by @FreyJo in #1343
New QP diagnostics function in acados_ocp_solver.py and adaptive_levenberg_marquardt in multi phase interface by @david0oo in #1338
C: work on constraint dimensions by @FreyJo in #1344
Fix get_residuals by @FreyJo in #1346
MOCP: fixes and test with parameters in MATLAB on CI by @FreyJo in #1347
Simulink: add lh, uh, lbx, ubx for MOCP; fix lh, uh in general by @FreyJo in #1348
C template/python: set_flat for AcadosOcpBatchSolver by @sandmaennchen in #1349
CI: Test with MATLAB on Windows by @sandmaennchen in #1332
Python: fix signature and docstring of eval_adjoint_solution_sensitivity by @FreyJo in #1350
Solution & value sensitivities with parametric constraints by @FreyJo in #1345
C: fix casadi_is_dense by @FreyJo in #1351
Fix value function sensitivities, add example varying parameters in certain direction on linear OCP by @FreyJo in #1352
Python iterates: expose in interface, implement flatten by @FreyJo in #1353
Fix function generation for convex-over-nonlinear constraints, add convex OCP example by @FreyJo in #1354
Python/C: Minor cleanup adjoint solution sens by @sandmaennchen in #1355
C templates/python: Batched version of adjoint solution sensitivities by @sandmaennchen in #1356
Add option cost_scaling in template based interfaces by @FreyJo in #1357
Update DAQP submodule by @darnstrom in #1358
C templates/python: Extend batch solver with load/store from/to flattenedd batch iterate by @sandmaennchen in #1360
Python: avoid calling ascontiguousarray, improve docstings by @FreyJo in #1361
Parametric sensitivities with linear least-squares cost by @FreyJo in #1362
Implement adjoint sensitivities for SQP-RTI and DDP by @FreyJo in #1363
Python: detect_constraint_structure by @aghezz1 in #1337
Python: fix type import by @sandmaennchen in #1364
MATLAB: Minor fixes in qp_diagnostics by @sandmaennchen in #1366
Sensitivities with parametric constraints: follow-up to #1345 by @FreyJo in #1368
MATLAB/python: QP diagnostic with consistent names by @sandmaennchen in #1367
Matlab: Fix funnel check and options by @sandmaennchen in #1369
Python & Matlab: use SQP by default by @FreyJo in #1370
Python: Cleanup of batch sensitivity example, vary p_global by @sandmaennchen in #1372
Python: improve check/warning on GN Hessian with EXTERNAL cost by @FreyJo in #1371

Full Changelog: v0.4.1...v0.4.2

@FreyJo

Highlights

more functionality in Simulink: slacks, MOCP, p_global
smaller memory footprint due to workspace reuse of external functions
modularized globalization functionality
debug functionality: new option to store intermediate iterates

Breaking changes

Changes in MATLAB/Octave and python:

setting option rti_phase for NLP solvers other than SQP_RTI is not supported anymore.

Changes in C API:

external function creation methods external_function_*_create got an
additional argument external_function_opts *opts_.
The functions: sim_solver_create, sim_solver_calculate_size,
sim_solver_assign now need an additional argument sim_in *in, in
order to make the external functions available when the memory is
calculated and assigned.
The functions: sim_solver_create, sim_solver_calculate_size,
sim_solver_assign now need an additional argument sim_in *in, in
order to make the external functions available when the memory is
calculated and assigned.
The function ocp_nlp_solver_create now needs an additional argument
ocp_nlp_in *nlp_in, in order to make the external functions available
when the memory is calculated and assigned.
With the introduction of the globalization module, all globalization-related options have been renamed: They now start with the prefix globalization_

What's Changed

Python: minor update to minimal MOCP example by @FreyJo in #1256
Code generation: more checks whether exact Hessian contributions are needed by @sandmaennchen in #1257
p_global follow up using casadi.blazing_spline by @sandmaennchen in #1258
Move Globalization functionality into modules, rename related options by @david0oo in #1254
Remove rti_phase from DDP and SQP by @FreyJo in #1260
Move NLP timings to common by @FreyJo in #1261
C: add QP solve function to simplify solver codes by @FreyJo in #1263
Add ocp_nlp_memory_get function by @david0oo in #1265
Fix globalization status check in RTI by @FreyJo in #1264
Core cleanup: add functions extract_module_name, ocp_nlp_compute_qp_objective_value by @david0oo in #1266
fix MATLAB make_consistent checks on slack dimensions by @FreyJo in #1267
Update options_set python function with globalization options by @david0oo in #1268
MATLAB: Blazing MOCP example by @FreyJo in #1270
Simulink slack functionality by @FreyJo in #1269
Remove rti_phase in generated main file by @FreyJo in #1272
MATLAB: compile only OCP solver lib in compile_ocp_shared_lib by @FreyJo in #1273
Create external function list in code generation by @FreyJo in #1271
Simulink: prepare for MOCP by @FreyJo in #1274
Simulink: add optional input port p_global, test blazing splines in Simulink by @FreyJo in #1275
Store intermediate iterates by @sandmaennchen in #1262
MATLAB: Minor cleanup of GenerateContext and blazing spline example by @sandmaennchen in #1276
Fix for extract_module_name by @FreyJo in #1277
Initialization of p_global by @sandmaennchen in #1278
Add dimension nx_next to OCP interface by @FreyJo in #1280
p_global: fix typo in generated cost header by @FreyJo in #1282
p_global related header fix for constraint h_e by @FreyJo in #1283
Simulink MOCP interface by @FreyJo in #1281
Remove unused internal variable max_iter in DDP and SQP by @FreyJo in #1284
CMake always uses / separators by @FreyJo in #1285
Update qpOASES with cmake update by @FreyJo in #1289
MATLAB: rename endsWith -> endsWith_custom to avoid warnings by @FreyJo in #1286
Interfacing: Getters for QP data by @FreyJo in #1288
Set sim_method_newton_tol in solver templates by @sandmaennchen in #1290
Solver templates: improve whitespace control by @FreyJo in #1291
C: generalize ocp_nlp_solve_qp_and_correct_dual with optional arguments by @FreyJo in #1293
C: cleanup external function code by @FreyJo in #1294
Separate functionality for computing z and algebraic sensitivities by @sandmaennchen in #1295
get_iterate: check if nlp_solver_type is supported in interfaces by @FreyJo in #1297
Cmake: replace \ by / in ext_fun_compile_flags by @sandmaennchen in #1298
Add option to reuse workspace of external CasADi functions by @FreyJo in #1296
Simulink: fix ztraj output port by @FreyJo in #1300
Minor cleanup: Python, ext_dep_off example by @FreyJo in #1299
fix ocp_nlp_dynamics_disc_compute_fun_and_adj by @FreyJo in #1303
MATLAB: add option to set json_file to old interface by @sandmaennchen in #1302
Fix RTI residuals by @FreyJo in #1304
Avoid empty structs; MSVC doesn't like it by @jgillis in #1305
MATLAB - update linear MPC example by @josipkh in #1307
MATLAB: add shooting nodes to solver transcription by @sandmaennchen in #1308
MATLAB/python: p_global examples with timinigs by @sandmaennchen in #1311
Python: Store/Load iterate to/from AcadosOcpIterate by @sandmaennchen in #1310
MATLAB/python: Default value for ext_fun_compile_flag from environment variable by @sandmaennchen in #1312
MATLAB: generic NLP example by @josipkh in #1309
Github Actions: use Release in full_build, and Debug in ext_dep_off by @FreyJo in #1314

Full Changelog: v0.4.0...v0.4.1

@FreyJo

Dear acados community 👋

we are excited to announce acados v0.4.0 which comes with significant changes and lots of new features in particular for MATLAB users! 🎉

New MATLAB interface

The new MATLAB interface fully aligns the solver creation with the python interface for which extensive documentation is available. The solver creation through the legacy interface is still supported but will be deprecated in future releases. Please refer to our announcement in the forum for up-to-date instructions on how to port existing code to the new interface.

Please note that the alignment with the python interface comes with some changes in default values:

Default constraints type is now 'BGH'
default cost type is now 'LINEAR_LS'
qp_solver_ric_alg = 1
qp_solver_cond_ric_alg = 1
nlp_solver_max_iter = 100
dynamic defaults as in Python for: alpha_min, alpha_reduction, eps_sufficient_descent, eval_residual_max_iter, full_step_dual

Other breaking changes:

acados_ocp returns an AcadosOcpSolver object which no longer provides the fields model_struct and opts_struct, but the property ocp which is an object of type AcadosOcp

Global parameters with precomputation

With this release, the acados problem formulation is extended with global parameters. In contrast to the existing problem parameters, global parameters cannot change stage-wise and most importantly allow for precomputation, i.e. whenever global parameter values are updated all potentially expensive terms within the CasADi problem functions which only depend on these parameters are precomputed.

Multi-phase OCP solver in MATLAB

The multi-phase interface which was only available in python is now also supported by the MATLAB interface.

Breaking changes

In addition to the breaking changes listed above, this release introduces the following breaking changes:

python interface: rename AcadosSimOpts -> AcadosSimOptions
MATLAB interface: see above
The number of shooting nodes is now specified using AcadosOcp.solver_options.N_horion for both MATLAB and Python, previously via dims.N.

What's Changed

Matlab interface overhaul by @FreyJo in #1193
migrate dims.N to solver_options.N_horizon by @FreyJo in #1203
Matlab interface: improve error messages by @sandmaennchen in #1204
MATLAB: minor cleanup of examples, rewrite to new interface by @sandmaennchen in #1206
MATLAB: change default cost type from AUTO to BGH by @sandmaennchen in #1205
Matlab: Fix qp_diagnostics for partially condensed QP by @FreyJo in #1208
MALTAB: switch back to generated Make, keep using CMake on Octave by @FreyJo in #1210
Add option qp_solver_mu0 to AcadosOcpOptions by @FreyJo in #1214
Update HPIPM to version with new Matlab debug functionality by @FreyJo in #1212
Update jsonlab with improved error messages by @FreyJo in #1215
Add option qp_print_level for HPIPM solvers by @FreyJo in #1213
New MATLAB frontend: change defaults to match Python by @FreyJo in #1216
MATLAB multiphase OCP solver by @FreyJo in #1218
Correction: Torsion calculation in quadrotor_nav example by @JohnTGZ in #1217
Python: rename AcadosSimOpts -> AcadosSimOptions by @FreyJo in #1222
Python: cleanup example generic_disc_dyn by @sandmaennchen in #1225
MATLAB: custom update and zoRO interfacing by @FreyJo in #1223
No code generation for integrator and related files if dynamics are DISCRETE by @sandmaennchen in #1226
Update Simulink examples to be based on new interface by @FreyJo in #1228
Remove OCP related things in templated Make and CMake when creating integrators by @FreyJo in #1229
SQP: fix time_lin by including ocp_nlp_approximate_qp_vectors_sqp by @FreyJo in #1230
Include external function needed for ERK adjoints properly in solver templates by @FreyJo in #1231
MATLAB/Octave: add note on interfaces to examples by @sandmaennchen in #1232
Add vde_adj in make_sfun.in.m by @FreyJo in #1233
Add stage info in dynamics, cost and constraints submodules by @FreyJo in #1236
Fix compiler warning, forgot to change header in #1236 by @FreyJo in #1238
Add p_global to problem formulation in Python by @FreyJo in #1234
Update problem formulation by @sandmaennchen in #1221
A few typo fixes and minor changes in the problem formulation document by @josipkh in #1242
MATLAB: fixes in make_consistent, getting started examples using new interface by @sandmaennchen in #1239
Python: improvements to MHE example by @FreyJo in #1244
Simplify casadi_function_generation logic by @jgillis in #1245
MATLAB: add p_global and GenerateContext by @sandmaennchen in #1241
MATLAB: Simple DAE example uses new interface by @sandmaennchen in #1247
Fix Multiphase with nondefault code_export_directory by @FreyJo in #1240
MATLAB: remove codgen_model by @sandmaennchen in #1248
MATLAB: migrate MHE example to new interface by @FreyJo in #1249
Fix compilation with EXT_DEP=OFF and test it on Github actions by @FreyJo in #1235
Rename set_p_global to set_p_global_and_precompute_dependencies by @sandmaennchen in #1251
Add common subexpression elimination to CasADi function creation by @sandmaennchen in #1246
Update matlab install script to install CasADi v3.6.6 by @sandmaennchen in #1252
Update documentation for python API by @sandmaennchen in #1253

New Contributors

@JohnTGZ made their first contribution in #1217

Full Changelog: v0.3.6...v0.4.0

@FreyJo

What's Changed

One sided constraint support for HPIPM solvers by @FreyJo in #1174
Fix external_function_external_param_casadi by @sandmaennchen in #1189
Minor documentation update by @sandmaennchen in #1187
Matlab: Getter for condensed QP matrices by @sandmaennchen in #1188
Compile acados with BUILD_TYPE = DEBUG on Github actions by @FreyJo in #1191
Matlab example cleanup by @FreyJo in #1192
Use d_mask in DAQP interface to handle one-sided constraints by @FreyJo in #1175
Minor Python changes from aligning Matlab by @FreyJo in #1197
MEX: always use CMake for generated code by @FreyJo in #1198
Add references to documentation by @FreyJo in #1200
Print note if QP solver does not support one-sided constraints by @sandmaennchen in #1202

Full Changelog: v0.3.5...v0.3.6

@david0oo

What's Changed

Funnel globalization by @david0oo in #1151
Align python and MATLAB classes for problem formulation by @sandmaennchen in #1160
Fix external casadi functions with sparse parameter definitions, remove unused memory, add tests by @FreyJo in #1162
Stagewise parameter values for OCP NLP solver by @FreyJo in #1163
Fix setting globalization options in template for funnel by @FreyJo in #1164
Detect Nan and Inf in merit function based line search by @FreyJo in #1166
Merit backtracking cleanup by @FreyJo in #1167
Small improvements by @FreyJo in #1169
MATLAB: Code generation of CasADi functions based on AcadosOcp/AcadosSim by @sandmaennchen in #1170
Drone example by @AkashJohnSubash in #1165
Matlab QP conditioning by @FreyJo in #1172
Python: improve checks in setters by @FreyJo in #1171
Sparse parameter update in Matlab and parameter getters by @FreyJo in #1176
Hotfix sparse parameter setter Matlab for empty parameter and MSVC compiler by @FreyJo in #1178
Update docs build requirements by @FreyJo in #1179
Simulink sparse parameter update and testing by @FreyJo in #1177
Update HPIPM by @FreyJo in #1181
Add new acados logo and favicon. Switch docs to sphinx-book-theme by @FreyJo in #1180
Fix links to OSQP to point to its new GitHub organization by @imciner2 in #1183
MATLAB: condition number per block and global by @sandmaennchen in #1182

Breaking:

Removed t slacks in 23bedb3. Related interface functionality such as getters and setters for t and
initialize_t_slacks have been removed.

New Contributors

@imciner2 made their first contribution in #1183

Full Changelog: v0.3.4...v0.3.5

@FreyJo

What's Changed

Python cleanup by @FreyJo in #1146
Getters for partial condensing matrices Q, R, S by @FreyJo in #1145
Add timers: time_preparation, time_feedback by @FreyJo in #1147
Documentation update by @josipkh in #1141
Remove t slacks from ocp_nlp_out by @FreyJo in #1148
Remove main mex template by @FreyJo in #1149
Update problem formulation description by @sandmaennchen in #1150
Fix small typo in Makefile by @josipkh in #1152
Visualize cost-to-go in MOCP example by @FreyJo in #1153
Add reset function in MEX OCP solver interface by @FreyJo in #1156
Fix QP status issue by @FreyJo in #1155
Cmake for multi-phase OCP solver by @sandmaennchen in #1157
Simulink interface: add initialization functionalities and tests by @FreyJo in #1158
Python interface: default for sim_method_num_stages by @sandmaennchen in #1159

Full Changelog: v0.3.3...v0.3.4

Releases: acados/acados

v0.5.0

Highlights

Breaking changes

C interface:

What's Changed

Contributors

v0.4.5

Highlights

What's Changed

New Contributors

Contributors

v0.4.4

Highlights

What's Changed

New Contributors

Contributors

v0.4.3

Highlight

Breaking changes

What's Changed

Contributors

v0.4.2

Highlights

Breaking changes

C interface

Python interface

Matlab interface

Simulink

What's Changed

Contributors

v0.4.1

Highlights

Breaking changes

What's Changed

Contributors

v0.4.0

New MATLAB interface

Global parameters with precomputation

Multi-phase OCP solver in MATLAB

Breaking changes

What's Changed

New Contributors

Contributors

v0.3.6

What's Changed

Contributors

v0.3.5

What's Changed

Breaking:

New Contributors

Contributors

v0.3.4

What's Changed

Contributors