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_setnow requiresnlp_inas additional argumentocp_nlp_constraints_model_setnow requiresnlp_outas additional argumentocp_nlp_outneeds to be created beforeocp_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_resoption and memory by @FreyJo in #1494 - Step norm logging by @FreyJo in #1495
- C: avoid using local variable
sqp_iterby @FreyJo in #1496 - Template: avoid openmp dependency when not batched by @FreyJo in #1497
- Allow
solver_options.N_horizon=0by @Confectio in #1498 - Modify
AcadosOcpBatchSolverto 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_outby @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_marquardtas 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
Contributors
sandmaennchen, Confectio, and 2 other contributors