NOSNOC v0.5.0

What's Changed

• Robot example by @apozharski in #43
• Splitting NLP and MPCC generation by @apozharski in #44
• Sigma Scaling, wall time timeouts, and fixes/changes to convergence checks. by @apozharski in #45
• Fix bug caused by not including endpoints in cross complementarity by @apozharski in #47
• Cart pole example refactor and add smoothing. by @FreyJo in #46
• Move all discretization options from model to problem_options by @FreyJo in #50
• Add Matlab version requirement R2021b or later by @FreyJo in #51
• Correctly add switching constraints to last FE of stage by @apozharski in #52
• Solver plugins, better user defined algebraics for step, and simple switching cases testing by @apozharski in #49
• Fixes for spontaneous switch via initialization by @FreyJo in #54
• Addressing Issue with Throwing ball example. by @apozharski in #56
• Fix nu function and step equilibration options. Implement CLS nu function by @apozharski in #57
• check for use_fesd in cross comp mode code by @apozharski in #58
• Update README.md by @nurkanovic in #59
• Cleaner regularization code by @apozharski in #60
• Stationarity Checks and various bugfixes by @apozharski in #61

Full Changelog: v0.4.0...v0.5.0

NOSNOC v0.4.0

Changes summary:

• support formulating Complementarity Lagrangian System (CLS)
• clean up output of solver and integrator
• Introduce NosnocModel class
• Introduce NosnocSolver class
• cleanup
• add NosnocIpoptCallback
• add support for different C-Functions
• and more.
• Code is tested with MATLAB R2021b

This release contains the code to reproduce all results in our latest submitted paper:
"FESD-J: Finite Elements with Switch Detection for Numerical Optimal Control of Rigid Bodies with Impacts and Coulomb Friction" by Armin Nurkanović, Jonathan Frey, Anton Pozharskiy, Moritz Diehl

NOSNOC v0.3.0

What's Changed

• Mpcc clean up by @nurkanovic in #27
• Variable rename, and adding g_switching_fun to model by @apozharski in #28
• Classification by @apozharski in #30
• Simple General Inclusions by @apozharski in #31
• User algebraics by @apozharski in #32
• work on cart pole example by @FreyJo in #33
• Remove matlab subdirectory structure. by @apozharski in #34
• Globals by @apozharski in #35
• fixing bug in addVariable by @apozharski in #36
• Time freezing multi by @nurkanovic in #37
• Perf improvements via Removal of Duplication of lambda/theta Calculation by @nurkanovic in #38
• added optional constraint stabilization in time-freezing by @nurkanovic in #39
• Options class with input validation by @apozharski in #40

Full Changelog: v0.2.0...v0.3.0

NOSNOC v0.2.0

What's Changed

• Set n_lift_eq to n_simplex to strip away enough theta constraints by @apozharski in #24
• add nosnoc_py as a submodule 🚀 by @FreyJo in #25
• Index refactor by @apozharski in #26

Full Changelog: v0.1.1...v0.2.0

NOSNOC v0.1.1

What's Changed

• Fix no fesd version by removing infeasible constraint T=0 by @FreyJo in #12
• Print improvements by @FreyJo in #13
• Add lambda00 to fix implicit Euler, Cleanup parameters by @FreyJo in #14
• Fix lambda00 for multi simplex model and x0 in homotopy_solver by @FreyJo in #15
• Add basic testing using gitub actions, and an example matlab test. by @apozharski in #16
• Fix Matlab incomptibility, Improve prints, minor example changes by @FreyJo in #17
• Superlinear rule for homotopy updated and clean up of time-freezing by @nurkanovic in #18
• Fix bugs with use_fesd = 0 and refactor everything around time transformations by @nurkanovic in #19
• Remove outdated opts by @FreyJo in #20
• Polished step equilibration, polished all examples, more compact solver outputs. by @nurkanovic in #21
• Change License to 2-clause BSD by @FreyJo in #22
• License follow-up by @FreyJo in #23

Full Changelog: v0.1.0...v0.1.1

NOSNOC v0.1.0

First NOSNOC release

New Contributors

• @nurkanovic made their first contribution in #1
• @FreyJo made their first contribution in #3
• @apozharski made their first contribution in #7

Full Changelog: https://github.com/nurkanovic/nosnoc/commits/v0.1.0