GNRK: Gauss-Newton Runge-Kutta: IRK with nonlinear-least squares #698
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Python: add setter qp_warm_start docs: install j4 C: globalization: implement ocp_nlp_compute_merit_gradient, WIP, inequalities missing C: globalization: remove old version C: globalization: initialize merit weights > 0 C: globalization: add Armijo sufficient descent condition Python: add check on globalization type Python: use isinstance in setters C: globalization: add option to do full step in dual variables C: globalization: implement ocp_nlp_compute_merit_gradient, WIP on inequalities Python: add check on shooting_nodes, time_steps globalization: mostly comments C: globalization: fix error in merit_fun grad dyn C: globalization: finish ineq contribution WIP C: globalization: implement ocp_nlp_compute_merit_gradient, all inequalities Python: AcadosOcpSolver: store status, implement getter for residuals C: comments on globalization C: make SQP loop more readable C: removed fields from ocp_nlp_out that are in memory C: add ocp_nlp_alias_memory_to_submodules to simplify SQP[_RTI] C: simplify SQP loop C: add globalization comment Python: dont use LIFTED_IRK in standalone integrator generated from OCP Python/templates: add cost_discetization option ['EULER', 'INTEGRATOR'] C: add option cost_propagation in integrator C: IRK add option to integrate NLS cost term template: add option for cost discretization C: cost computation compatibility of other integrators C: integrator cost computation interfacing C: IRK add option to integrate NLS cost term - rework C: NLS cost: add option to partially compute cost in integrator template: add option for cost discretization C: IRK add option to integrate NLS cost term - working version with Euler tableau MEX templating: make compatible with cost_discretization option C: GNRK evaluate cost function at correct x C: GNRK: fix for multiple steps C: GNRK: simplify cost propagation C: GNRK: reduce memory and avoid transpose - tmp_ny_nux Python: add setter for xdot_guess WIP: Python: on load / store iterate templates: add ext_qp_res C: globalization: only print final alpha
FreyJo
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sandmaennchen
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Aug 29, 2023
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Implements efficient cost integration for nonlinear-least squares cost terms within IRK integrator with Gauss-Newton Hessian.
More details in upcoming preprint!