v1.6.4

Features

• There is now a 'Display' option that can be used to adjust verbosity (suppress warnings and/or the progress bar)

v1.6.3

Features

• A warning is now issues if the system and cost function returns full unfeasibility at a given stage.
• There is a new property called totalCost containing the total cost (shock).
• The code now only issues warnings if the optimization fails instead of errors.
• If the optimization fails, totalCost is set to infinity.

v1.6.2

Docs

• Expand and clarified the docs for the cart example.

Fixes

• Fixed a code snippet in the hev_example which eronneously showed code from another example.
• Fixed a code snippet in the "Set up a basic problem" section where the final state constraints are described.
• Fixed a sample code snippet in the additional inputs documentation when not using exogenous inputs.

v1.6.1

Fixes

• Fixed a bug that could prevent the 'EnforceStateGrid' option from effectively enforcing a constraint on the state grid bounds.

v1.6

New

• There is now an option to specify a custom terminal cost. An example for its usage has also been added.
• There is a new example illustrating the use of the level set method.

Fixes

• Fixed a bug that occasionally occured when using exogenous inputs in conjunction with safe mode.

Misc

• I refactored most of the code to further modularize DynaProg's methods. This all happened "under the hood" and it should be useful for developers, while being irrelevant to regular users.

v1.5.2

Fixes

• Fixed a bug where the forward phase would occasionally fail when using safe mode and exogenous inputs

v1.5.1

Fixes

• Fixed a bug where the forward simulation progress counter would stop if warnings arose.

v1.5

New

• There is now an option to also store the value functions constructed in the DP backward phase. Check out and StoreValueFunction in the Syntax guide for more info.
• There are some new options to change the way the terminal state constraints are enforced. Check out VFInitialization, VFFfactors and myInf in the Syntax guide for more info.
• There is now an option to automatically enforce a constraint on the state variables so that they do not exceed the state grids. Note that this is now the default behavior. Check out and EnforceStateGrid in the Syntax guide for more info.
• Online docs are now available at https://fmiretti.github.io/DynaProg/.
• DynaProg objects now have a tag with the version number they were created with.
• Added more checks and warnings.

Fixes

• Fixed a mismatch between the cart example and its documentation.
• Fixed an error occurring in the cumulative cost plot.
• Other minor fixes.

v1.4

New

• DynaProg is now compatible with older versions of MATLAB
• The examples are currently tested with MATLAB 2017b

v1.3

New

• DynaProg now checks that your system&cost function outputs have the correct data type.

Fixes

• Fixed a bug which occasionally arose in the forward phase for system&cost functions where the unfeasibilties are not a function of all the control variables.
• Minor improvements to the documentation.