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New design PDS/FOSwP pipeline #100

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nurkanovic merged 43 commits into main from new-design-pds

Jul 4, 2024

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apozharski commented May 17, 2024

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Implement new pipeline design for FESD for Projected Dynamical Systems #70

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apozharski force-pushed the new-design-pds branch from 3839e72 to 42f3a57 Compare

May 24, 2024 11:29

apozharski force-pushed the new-design-pds branch 2 times, most recently from 7650f20 to 7677c80 Compare

June 19, 2024 09:24

apozharski added 13 commits

June 20, 2024 14:39


          initial work

07585dc


          initial cross comp work

c6704ac


          initial work on cross complementatrity is done

a6c7a68


          step-eq work

e8c9c73


          working pds, though differential_lift_x is _quite_ bad

307d4f1


          fix typo in user z

0cddae4


          fix to new path complementarity handling

ecee02c


          custom display

2c0533f


          some experimentation

f620977


          minor changes and a few fixes

7ccc10d


          fix typo

f02892f


          mlcp rename

a06f02f


          bring in line with stewart re t_stage

52243ee

apozharski force-pushed the new-design-pds branch from 5c9b832 to 52243ee Compare

June 20, 2024 12:42


          add Cybership OCP example

0e89e24

apozharski changed the title ~~[WIP] New design PDS/FOSwP pipeline~~ New design PDS/FOSwP pipeline

apozharski requested a review from nurkanovic

June 24, 2024 11:31

apozharski added 3 commits

June 27, 2024 10:29


          bump vdx

45ca564


          some testing of c_n != 1 and formally erroring on differential rk rep…

a49b687

…resentation


          some options for handling PDS with c_n != 0

32ce3ef

nurkanovic reviewed

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apozharski and others added 26 commits

July 1, 2024 10:26


          updating and addressing some of armins comments

813331f


          fix use_fesd=false issues

b807770


          fixing stage_stage bug and some other minor issues

6dbc31a


          Error on c_n != 0

83472e9


          comment on (0,0,n_s)

4f8f672


          add error for differential mode and errors also in integrator

b163b81


          comment v=f_x

bc00c18


          fixed bugs in alternative step_eq, and added lifting for c(x)

b51b459


          rename f_x to f_x_unconstrained, minor changes to printing etc

a752f3b


          also do renames in stewart/heaviside

69ff75b


          some comments and update sphinx conf

fedf283


          some more docs

75106b5


          docs test

bd6b411


          three hours of fighting with sphinx

91cfa78


          A pretty decent initial pass at documentation

3cbc03b


          A lot of options documentation :)

a6bdf46


          A few more fixes in docs

3dc0e54


          some docs improvements

690fcaa


          GCS comment improved and installation instructions

6c8d951


          lots of minor docs fixes

234e0fc


          move basic pds example

21226b9


          move moving set example

c4c3c91


          move msv example

e65abce


          setting for lambda init

9e7f880


          polish examples

7e8db89


          fix bug in differential lift and bump vdx

1634cc6

nurkanovic approved these changes

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nurkanovic left a comment

All comments have been addressed. GJ!

nurkanovic merged commit e45e898 into main

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nurkanovic deleted the new-design-pds branch

July 4, 2024 12:37

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