Acados Versions Save

Fast and embedded solvers for nonlinear optimal control

v0.3.2

4 weeks ago

What's Changed

Allow to set cost scaling from Python by @FreyJo in https://github.com/acados/acados/pull/1058
Mex add support for soft nonlinear constraints at initial shooting node by @FreyJo in https://github.com/acados/acados/pull/1059
Simplify SQP loop with static functions by @FreyJo in https://github.com/acados/acados/pull/1057
add idxsh_0 to layout by @FreyJo in https://github.com/acados/acados/pull/1060
Fix openmp by @FreyJo in https://github.com/acados/acados/pull/1061
Solution sensitivities with respect to parameters by @FreyJo in https://github.com/acados/acados/pull/1055
CMake update by @Hs293Go in https://github.com/acados/acados/pull/1065
Small cleanup by @FreyJo in https://github.com/acados/acados/pull/1064
CSTR example improvement by @FreyJo in https://github.com/acados/acados/pull/1066
Python sanity checks on idx* by @FreyJo in https://github.com/acados/acados/pull/1067
Add set_params_sparse multiphase OCP by @FreyJo in https://github.com/acados/acados/pull/1069
Python convenience improvements by @FreyJo in https://github.com/acados/acados/pull/1068
Renaming follow up on #1055 by @FreyJo in https://github.com/acados/acados/pull/1070
Improve Python unicycle example by @FreyJo in https://github.com/acados/acados/pull/1072
Python interface: cleanup solver by @sandmaennchen in https://github.com/acados/acados/pull/1073
Matlab Interface: Add ztraj to sfunction output by @leonardocecchin in https://github.com/acados/acados/pull/1074

Full Changelog: https://github.com/acados/acados/compare/v0.3.1...v0.3.2

v0.3.1

1 month ago

What's Changed

fix Matlab with MSVC by @FreyJo in https://github.com/acados/acados/pull/1036
Support slack penalties for initial stage in MEX interface by @FreyJo in https://github.com/acados/acados/pull/1037
Split condensing and regularization into preparation and feedback by @FreyJo in https://github.com/acados/acados/pull/1034
Work on core for speedups by @FreyJo in https://github.com/acados/acados/pull/888
Fix slack function update in CONL, NLS module by @FreyJo in https://github.com/acados/acados/pull/1039
Cleanup RTI, fix timings and comments by @FreyJo in https://github.com/acados/acados/pull/1038
Cleanup SQP submodules - only use single evaluation point at a time by @FreyJo in https://github.com/acados/acados/pull/1040
Fix a few typos regarding the least squares cost formulation (MATLAB examples, Python docs) by @josipkh in https://github.com/acados/acados/pull/1044
Minor C changes by @FreyJo in https://github.com/acados/acados/pull/1045
Implement advanced-step real-time iteration: AS-RTI by @FreyJo in https://github.com/acados/acados/pull/1046
Fix DAQP for Matlab on Windows by @FreyJo in https://github.com/acados/acados/pull/1043
Efficient factorization of diagonal outer Hessian in convex-over-nonlinear and nonlinear least-squares costs by @sandmaennchen in https://github.com/acados/acados/pull/1024
Update MATLAB examples with general initial input constraints by @josipkh in https://github.com/acados/acados/pull/1048
Fix solution sensitivities in Matlab by @FreyJo in https://github.com/acados/acados/pull/1050
Add DS1104 support by @FreyJo in https://github.com/acados/acados/pull/1052
Furuta example by @sandmaennchen in https://github.com/acados/acados/pull/1053

Breaking:

Calling ocp_nlp_precompute is now required when creating an OCP solver from C, this is done in the C files generated by the template based interfaces (Python, Matlab and Octave). It might affect users that use an old / self written C file to set up their OCP solver. See: https://github.com/acados/acados/commit/37e17d31890ab54e5a855f1fe787fbf2f5d43bdb

Full Changelog: https://github.com/acados/acados/compare/v0.3.0...v0.3.1

v0.3.0

3 months ago

What's Changed

docs: update Python requirement by @FreyJo in https://github.com/acados/acados/pull/997
Matlab: LD_RUN_PATH, add getters, fix examples, remove outdated files by @FreyJo in https://github.com/acados/acados/pull/996
Separate nonlinear constraints into path and initial stage constraints by @FreyJo in https://github.com/acados/acados/pull/994
Some interface refactoring by @FreyJo in https://github.com/acados/acados/pull/998
Fix solver template, simplify external function generation, formatting by @FreyJo in https://github.com/acados/acados/pull/1000
Fix bugs with slack dimensions Python interface by @FreyJo in https://github.com/acados/acados/pull/1001
Matlab: allow to create Simulink block from integrator by @FreyJo in https://github.com/acados/acados/pull/1003
Add support for multi phase OCP in Python by @FreyJo in https://github.com/acados/acados/pull/1004
Fix acados_timer issue by removing MEASURE_TIMINGS flag by @FreyJo in https://github.com/acados/acados/pull/1005
Python 3.7 compatibility by @FreyJo in https://github.com/acados/acados/pull/1006
Fix nonlinear_chain_example, removing nm6 by @FreyJo in https://github.com/acados/acados/pull/1008
CodeQL: dont complain about commented code by @FreyJo in https://github.com/acados/acados/pull/1010
Consistent integrator timings by @FreyJo in https://github.com/acados/acados/pull/1011
extend AcadosMultiphaseOcp by @FreyJo in https://github.com/acados/acados/pull/1007
Add a linear MPC example in MATLAB by @josipkh in https://github.com/acados/acados/pull/1012
Documentation: fixes and updates by @FreyJo in https://github.com/acados/acados/pull/1013
Fix regularization example and build with CMake by @FreyJo in https://github.com/acados/acados/pull/1015
Update documentation, fix some typos by @josipkh in https://github.com/acados/acados/pull/1016
Minor fixes by @FreyJo in https://github.com/acados/acados/pull/1018
Update HPIPM by @FreyJo in https://github.com/acados/acados/pull/1020
Update penalty utilities by @FreyJo in https://github.com/acados/acados/pull/1021
Fix multiphase nonlinear constraints by @FreyJo in https://github.com/acados/acados/pull/1023
Matlab fixes by @FreyJo in https://github.com/acados/acados/pull/1026
Matlab examples: make calling functions more explicit by @FreyJo in https://github.com/acados/acados/pull/1027
Implement fixed_hess option to not recompute the Hessian if it is constant by @FreyJo in https://github.com/acados/acados/pull/1028
AcadosOcpSolver: make ocp consistent if generate==False by @FreyJo in https://github.com/acados/acados/pull/1030
Update osqp by @FranekStark in https://github.com/acados/acados/pull/1033

Breaking:

Matlab & Python: nonlinear constraints h and phi(r) are by default only enforced at nodes 1 to N. Such constraints can still be enforced at node 0 by setting the appropriate new fields, https://github.com/acados/acados/pull/994

New Contributors

@josipkh made their first contribution in https://github.com/acados/acados/pull/1012
@FranekStark made their first contribution in https://github.com/acados/acados/pull/1033

Full Changelog: https://github.com/acados/acados/compare/v0.2.6...v0.3.0

v0.2.6

6 months ago

What's Changed

fix CodeQL warnings by @FreyJo in https://github.com/acados/acados/pull/984
fix condition for checking number of stages in detect_dims_ocp.m by @Ajin2305 in https://github.com/acados/acados/pull/989
Codeql review by @FreyJo in https://github.com/acados/acados/pull/988
Rework CasADi requirements in MEX interface by @FreyJo in https://github.com/acados/acados/pull/991
Fix get_optimal_value_gradient, add getter for p from HPIPM by @FreyJo in https://github.com/acados/acados/pull/993
Windows python interface by @asparc in https://github.com/acados/acados/pull/968

New Contributors

@Ajin2305 made their first contribution in https://github.com/acados/acados/pull/989

Full Changelog: https://github.com/acados/acados/compare/v0.2.5...v0.2.6

v0.2.5

6 months ago

What's Changed

update BLASFEO and HPIPM by @FreyJo in https://github.com/acados/acados/pull/969
Fix typo in minimal_example_closed_loop.py by @Federico-PizarroBejarano in https://github.com/acados/acados/pull/970
Fix dependency handling in CMake config file by @Hs293Go in https://github.com/acados/acados/pull/971
Fix sfun sources if hessian is not exact by @asparc in https://github.com/acados/acados/pull/974
update ROADMAP by @sandmaennchen in https://github.com/acados/acados/pull/964
Work on solution sensitivities by @FreyJo in https://github.com/acados/acados/pull/975
Implement cost integration via IRK for Convex-over-nonlinear cost by @FreyJo in https://github.com/acados/acados/pull/976
Add time in IRK, allow to cost integration with time dependent function by @FreyJo in https://github.com/acados/acados/pull/977
Documentation fixes by @FreyJo in https://github.com/acados/acados/pull/979
Formulate constraints as L2 and Huber penalties in Python by @FreyJo in https://github.com/acados/acados/pull/980

New Contributors

@Federico-PizarroBejarano made their first contribution in https://github.com/acados/acados/pull/970
@Hs293Go made their first contribution in https://github.com/acados/acados/pull/971

Full Changelog: https://github.com/acados/acados/compare/v0.2.4...v0.2.5

v0.2.4

7 months ago

What's Changed

Zoro followup by @FreyJo in https://github.com/acados/acados/pull/960
GNRK: Gauss-Newton Runge-Kutta: IRK with nonlinear-least squares by @FreyJo in https://github.com/acados/acados/pull/698
Python get_stats returns float or int instead of single element numpy array and fix cython for custom path by @aghezz1 in https://github.com/acados/acados/pull/961
python interface: get the gradient of the optimal value function by @sandmaennchen in https://github.com/acados/acados/pull/963
Cleanup by @FreyJo in https://github.com/acados/acados/pull/965
refactored optionally verbose system calls in python interface by @tudoroancea in https://github.com/acados/acados/pull/962

BREAKING: change return types of get_stats in Python

Full Changelog: https://github.com/acados/acados/compare/v0.2.3...v0.2.4

v0.2.3

8 months ago

What's Changed

Minor update to python interface docs, remove docs folder in acados_template by @sandmaennchen in https://github.com/acados/acados/pull/943
minor changes of zoRO examples by @yf-gao in https://github.com/acados/acados/pull/946
Simulink with custom update function by @FreyJo in https://github.com/acados/acados/pull/948
Core: Allow changing all constraint bounds between preparation and feedback phase by @FreyJo in https://github.com/acados/acados/pull/949
Python x0 shape check by @FreyJo in https://github.com/acados/acados/pull/950
MATLAB: use template-based code to interface acados sim solver by @FreyJo in https://github.com/acados/acados/pull/944
Fix free external function in templated sim solver by @sandmaennchen in https://github.com/acados/acados/pull/951
MEX: remove pointers to external functions in Matlab by @mohammed-hababeh in https://github.com/acados/acados/pull/952
Use PROJECT_SOURCE_DIR instead of CMAKE_SOURCE_DIR to allow for better submodulization by @apozharski in https://github.com/acados/acados/pull/953
Update problem_formulation_ocp_mex.tex with J_sbx^e by @jnz in https://github.com/acados/acados/pull/954
Refactor examples by @FreyJo in https://github.com/acados/acados/pull/955
Minimal closed-loop example using RTI by @sandmaennchen in https://github.com/acados/acados/pull/958

New Contributors

@mohammed-hababeh made their first contribution in https://github.com/acados/acados/pull/952
@apozharski made their first contribution in https://github.com/acados/acados/pull/953
@jnz made their first contribution in https://github.com/acados/acados/pull/954

Full Changelog: https://github.com/acados/acados/compare/v0.2.2...v0.2.3

v0.2.2

10 months ago

What's Changed

Update License headers by @FreyJo in https://github.com/acados/acados/pull/935
Matlab full template based OCP solver by @yzuuang in https://github.com/acados/acados/pull/934
Fast implementation of the zoRO algorithm by @yf-gao in https://github.com/acados/acados/pull/938
NLS cost module: Change W_changed flag if cost matrix was changed by @lukasfro in https://github.com/acados/acados/pull/939
Example to create Simulink wrapper from Python by @FreyJo in https://github.com/acados/acados/pull/940
license follow up: fix trailing spaces by @FreyJo in https://github.com/acados/acados/pull/941

Breaking changes:

Simulink interface: After https://github.com/acados/acados/pull/934 the Matlab OCP solver interface is fully template based. Thus, there is no need anymore to call ocp.generate_c_code(simulink_opts);. This is now done within the creation of the Matlab OCP solver object. The simulink_opts, have to be provided to the constructor of the ocp solver instead, i.e. with the optional argument simulink_opts:

ocp = acados_ocp(ocp_model, ocp_opts, simulink_opts);

For details, see https://github.com/acados/acados/pull/934

New Contributors

@yf-gao made their first contribution in https://github.com/acados/acados/pull/938

Full Changelog: https://github.com/acados/acados/compare/v0.2.1...v0.2.2

v0.2.1

11 months ago

What's Changed

Add init.py for gnsf subpackge in acados_template by @lukasfro in https://github.com/acados/acados/pull/907
RK3 implementation and sanity check for number of RK stages of plant and model by @sourishpramanick in https://github.com/acados/acados/pull/910
Update non-.py file list for python installation by @lukasfro in https://github.com/acados/acados/pull/908
Python: add check on yref* shape by @FreyJo in https://github.com/acados/acados/pull/911
fix: Makefile for conl cost by @FreyJo in https://github.com/acados/acados/pull/913
Minor Python improvements by @FreyJo in https://github.com/acados/acados/pull/914
Fix: Python and solver template by @FreyJo in https://github.com/acados/acados/pull/916
Add acados_env_variables_windows.m in examples folder by @FreyJo in https://github.com/acados/acados/pull/917
Cleanup - Fixed warnings by @ivobatkovic in https://github.com/acados/acados/pull/919
Fix: undefined reference to 'ocp_nlp_cost_conl_config_initialize_default' by @simone-contorno in https://github.com/acados/acados/pull/920
docs: fix broken discourse link in documentation by @Runinho in https://github.com/acados/acados/pull/921
GNSF simulink fix by @FreyJo in https://github.com/acados/acados/pull/922
docs: update getting_started python script location by @Runinho in https://github.com/acados/acados/pull/923
fix bug in d_cvt_dmat_args_to_casadi by @yzuuang in https://github.com/acados/acados/pull/925
added s-function mask by @leonardocecchin in https://github.com/acados/acados/pull/926
added verbose option to AcadosOcpSolver build by @tudoroancea in https://github.com/acados/acados/pull/928
Updated dSpace embedded workflow docs by @leonardocecchin in https://github.com/acados/acados/pull/929
call cmake to compile for matlab in windows by @yzuuang in https://github.com/acados/acados/pull/930
document cost discretization by @FreyJo in https://github.com/acados/acados/pull/932
Minor fixes: GNSF sim template, Sfunction note by @FreyJo in https://github.com/acados/acados/pull/933

New Contributors

@lukasfro made their first contribution in https://github.com/acados/acados/pull/907
@sourishpramanick made their first contribution in https://github.com/acados/acados/pull/910
@ivobatkovic made their first contribution in https://github.com/acados/acados/pull/919
@simone-contorno made their first contribution in https://github.com/acados/acados/pull/920
@Runinho made their first contribution in https://github.com/acados/acados/pull/921
@yzuuang made their first contribution in https://github.com/acados/acados/pull/925
@leonardocecchin made their first contribution in https://github.com/acados/acados/pull/926
@tudoroancea made their first contribution in https://github.com/acados/acados/pull/928

Full Changelog: https://github.com/acados/acados/compare/v0.2.0...v0.2.1

v0.2.0

1 year ago

What's Changed

Refactor Python interface by @FreyJo in https://github.com/acados/acados/pull/890
Python: add functionality to dump QP data, C: add more getters by @FreyJo in https://github.com/acados/acados/pull/891
Hessian for external cost with algebraic variables by @sandmaennchen in https://github.com/acados/acados/pull/894
Python: include cleanup, move casadi function generation in one file by @FreyJo in https://github.com/acados/acados/pull/892
Python integrator: output_z = True by default by @FreyJo in https://github.com/acados/acados/pull/895
DAQP: Abort solve if setup fails by @darnstrom in https://github.com/acados/acados/pull/900
Initialize integrator z guess, when setting z, comments regarding algebraic variables. by @FreyJo in https://github.com/acados/acados/pull/902
Matlab remove OS path dependency by @JacobDGrunnet in https://github.com/acados/acados/pull/896
update docs with DYLD_LIBRARY_PATH, remove duplicate / outdated documentation by @FreyJo in https://github.com/acados/acados/pull/903
Fix templated cmake and test it by @FreyJo in https://github.com/acados/acados/pull/906
Automate Matlab install by @JacobDGrunnet in https://github.com/acados/acados/pull/897

New Contributors

@JacobDGrunnet made their first contribution in https://github.com/acados/acados/pull/896

Full Changelog: https://github.com/acados/acados/compare/v0.1.10...v0.2.0