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CHANGELOG.md

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Changelog

[0.6.2] - 2024-07-24

Added

  • The Result struct now contains the feasibility of the solution vector in the is_feasible field

Fixed

  • Version 0.6 and 0.6.1 were affected by a bug which was preventing the proper computation of the Jacobian of the user-defined inequality constraints. This bug has been fixed in this version

[0.6.1] - 2024-06-07

Fixed

  • Fixed the horizon slicing for the non-linear mpc. The horizon slicing was not working properly when set via the HorizonSlice struct

[0.6.0] - 2024-06-05

Added

  • Added support for input and state bound constraints in the non-linear mpc. These constraints are actually restricing the search space of the optimization problem and are obeyed by the solver also during intermediate steps of the optimization problem
  • Added warm start support in the non-linear mpc. The warm start is disabled by default and can be enabled using the parameter enable_warm_start

Changed

  • Breaking change: The stopping criterias in the non-linear mpc parameters are now disabled by default. The only enabled criteria is the maximum number of iterations
  • Breaking change: The optimal sequence returned by the linear and non-linear mpc is now containing also the initial condition
  • The Jacobians of the constraints in the non-linear mpc are now estimated using the trapeizoial rule
  • The functions to set the bound constraints now uses a dedicated structure to define the horizon span
  • Breaking change: The functions setConstraints are now split in setStateBounds, setInputBounds and setOutputBounds
  • Breaking change: The fields retcode and status_msg in the result struct of the non-linear mpc are now solver_status and solver_status_msg respectively

[0.5.0] - 2024-05-17

Added

  • Python bindings for the library using pybind11 (pympcxx)
  • The result struct now contains a string to describe the status of the optimization problem
  • Added new parameters for the nonlinear mpc (time_limit, absolute_ftol, absolute_xtol)

Changed

  • Breaking change: some of the APIs have been refactored. New APIs: setDiscretizationSamplingTime, setExogenousInputs, optimize substitute setContinuosTimeModel, setExogenuosInputs, step
  • Improved error handling in the NLopt interface

Fixed

  • The set of the discretization sampling time was not working properly in the non-linear mpc

[0.4.2] - 2024-01-14

Added

  • Added examples to show how to use the library

Fixed

  • Fixed the cmake target configuration to properly target the library

[0.4.1] - 2024-01-30

Changed

  • Removed coloured output for the integrated logger
  • Configure script now can be used to avoid the installation of the test suite

Fixed

  • Fixed dockerfile to use the 0.6.3 version of the OSQP solver

[0.4.0] - 2023-05-20

Added

  • Added profiler to measure statistics of the optimization problem
  • In linear mpc is now possible to override the warm start of the optimization problem
  • Added support for OSQP warm start in linear mpc

Changed

  • The linear mpc parameters now allows to enable the warm start of the optimization problem
  • The mpc result structure now contains a status field to check if the optimization problem has been solved
  • CMakelists.txt has been refactored to export the INCLUDE_DIRS variable

[0.3.1] - 2023-03-06

Fixed

  • The computation of the scalar multipler was not correct

[0.3.0] - 2023-03-04

Added

  • Added new api in linear mpc to add a scalar constraints

Changed

  • In linear mpc the last input command is now used to initialize the optimal control problem

Fixed

  • The default value for the box constraints in linear mpc are now set -inf and inf
  • In linear mpc optimal input sequence was erroneously the delta input sequence

[0.2.0] - 2023-01-09

Added

  • Improved performances of non-linear mpc

Changed

  • Added support in non-linear for output penalization in objective function (Breaking change)
  • In non-linear prediction step index is now available in the model update function (Breaking change)

## [0.1.0] - 2022-11-12

Added

  • Added support in linear mpc to define the references, weights, constraints and exogenous inputs different in each prediction step
  • Added general support to the retrival of the optimal sequence (state, input and output)

Changed

  • The API to set the references, weights constraints and exogenous inputs using vector now requires a span of the horizon (Breaking changes)
  • Added new APIs to define the references, weights, constraints and exogenous inputs matrices to the whole horizon
  • Internal structure of the library has been refactored to separate non-linear and linear classes

[0.0.9] - 2022-07-06

Added

  • Added support for multiple mpc instances in the same executable

Changed

  • Minimum c++ version required updated to c++20

[0.0.8.2] - 2022-06-20

Fixed

  • Fixed issue on compilation

[0.0.8.1] - 2022-06-15

Changed

  • Catch2 dependency updated to version 3

Fixed

  • Improved performances while building the optimization problem in LOptimizer

[0.0.8] - 2022-03-02

Added

  • Changelog added :)

Fixed

  • Fixed a memory leak in LOptimizer
  • Fixed the parameters handling in LOptimizer