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Major refactor towards 3.2.0 #814

Merged
merged 183 commits into from
Dec 22, 2023
Merged

Major refactor towards 3.2.0 #814

merged 183 commits into from
Dec 22, 2023

Commits on Nov 15, 2023

  1. Pendulum working with the time as parameter

    @pariterre
    pariterre committed Nov 15, 2023
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  2. Fixing Mayer min time

    @pariterre
    pariterre committed Nov 15, 2023
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Commits on Nov 16, 2023

  1. Transitionning towards t_span being [t0; tf] instead of [t0; dt]

    @pariterre
    pariterre committed Nov 16, 2023
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  2. Fixing multi_phase time optimization

    @pariterre
    pariterre committed Nov 16, 2023
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  3. Fixed plots

    @pariterre
    pariterre committed Nov 16, 2023
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  4. Made IRK work on pendulum

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    pariterre committed Nov 16, 2023
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Commits on Nov 17, 2023

  1. Removed useless duplication of code

    @pariterre
    pariterre committed Nov 17, 2023
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  2. Fixed GUI for COLLOCATIONS

    @pariterre
    pariterre committed Nov 17, 2023
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  3. Fixed COLLOCATION

    @pariterre
    pariterre committed Nov 17, 2023
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  4. Fixed IRK integration

    @pariterre
    pariterre committed Nov 17, 2023
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  5. Fixed computation of objective function with threads

    @pariterre
    pariterre committed Nov 17, 2023
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Commits on Nov 20, 2023

  1. Rebuilding time vector in solution from ground up

    @pariterre
    pariterre committed Nov 20, 2023
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  2. Digging my own grave...

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    pariterre committed Nov 20, 2023
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Commits on Nov 21, 2023

  1. Drastically simplified Solution to build it from ground up. Interpola… 

    …tion works
    @pariterre
    pariterre committed Nov 21, 2023
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Commits on Nov 22, 2023

  1. Simplified OdeSolver and Integrator classes

    @pariterre
    pariterre committed Nov 22, 2023
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  2. Started a data structure that can manipulate the decision data

    @pariterre
    pariterre committed Nov 22, 2023
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Commits on Nov 23, 2023

  1. Fixed graphics for RK

    @pariterre
    pariterre committed Nov 23, 2023
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  2. Fixed interpolation and animation for RK

    @pariterre
    pariterre committed Nov 23, 2023
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  3. Fixed IRK for integration, interpolation, gui

    @pariterre
    pariterre committed Nov 23, 2023
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  4. Started to use a dedicated helper to dispatch data for the penalty

    @pariterre
    pariterre committed Nov 23, 2023
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Commits on Nov 24, 2023

  1. Simplified get penalty cost in solution

    @pariterre
    pariterre committed Nov 24, 2023
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  2. Fixed distribution of data in COLLOCATION

    @pariterre
    pariterre committed Nov 24, 2023
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  3. Renamed a function that was confusing

    @pariterre
    pariterre committed Nov 24, 2023
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  4. Fixed graphs for COLLOCATION

    @pariterre
    pariterre committed Nov 24, 2023
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  5. Cleaned a bit

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    pariterre committed Nov 24, 2023
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Commits on Nov 27, 2023

  1. Started to fix Multinodes

    @pariterre
    pariterre committed Nov 27, 2023
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  2. Fixed some index issues

    @pariterre
    pariterre committed Nov 27, 2023
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  3. Fixed nasty bug in dt dispatch

    @pariterre
    pariterre committed Nov 27, 2023
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  4. Fixed dispatching bug for final node of control in multiphase

    @pariterre
    pariterre committed Nov 27, 2023
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  5. Fixed time for multiphase plots

    @pariterre
    pariterre committed Nov 27, 2023
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  6. Fixed phase transition with collocation

    @pariterre
    pariterre committed Nov 27, 2023
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  7. Fixed custom plot

    @pariterre
    pariterre committed Nov 27, 2023
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Commits on Nov 28, 2023

  1. Fixed ONE_PER_NODE

    @pariterre
    pariterre committed Nov 28, 2023
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  2. Fixed ONE_PER_NODE for COLLOCATION

    @pariterre
    pariterre committed Nov 28, 2023
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  3. Updated time optimization examples

    @pariterre
    pariterre committed Nov 28, 2023
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  4. Fixed some indices problems

    @pariterre
    pariterre committed Nov 28, 2023
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  5. Added somes output for the solution

    @pariterre
    pariterre committed Nov 28, 2023
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  6. Fixed multiprocessing

    @pariterre
    pariterre committed Nov 28, 2023
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  7. Fixed penalty derivative

    @pariterre
    pariterre committed Nov 28, 2023
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  8. Fixing tests. Still multiphase_time optimization to go and parameters

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    pariterre committed Nov 28, 2023
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Commits on Nov 29, 2023

  1. Consolidated SolutionData

    @pariterre
    pariterre committed Nov 29, 2023
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  2. Fixed scaling formatting

    @pariterre
    pariterre committed Nov 29, 2023
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  3. Fixed parameter scaling (to be completed)

    @pariterre
    pariterre committed Nov 29, 2023
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  4. Fixed interpolation merging phase timing

    @pariterre
    pariterre committed Nov 29, 2023
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  5. Fixed yet again some more tests

    @pariterre
    pariterre committed Nov 29, 2023
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  6. Fixed MHE

    @pariterre
    pariterre committed Nov 29, 2023
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Commits on Nov 30, 2023

  1. FIxed graphs for control linear

    @pariterre
    pariterre committed Nov 30, 2023
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  2. Fixed more bugs

    @pariterre
    pariterre committed Nov 30, 2023
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  3. Trying to fix LINEAR_CONTINUOUS integration

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    pariterre committed Nov 30, 2023
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Commits on Dec 1, 2023

  1. Fixed trapezoidal for RK

    @pariterre
    pariterre committed Dec 1, 2023
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  2. Fixed TRAPEZOIDAL for COLLOCATION

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    pariterre committed Dec 1, 2023
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  3. Fixed trapezoidal integrator

    @pariterre
    pariterre committed Dec 1, 2023
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  4. fixed some more tests

    @pariterre
    pariterre committed Dec 1, 2023
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  5. Fixed multicyclic NMPC

    @pariterre
    pariterre committed Dec 1, 2023
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  6. Fixed time tests

    @pariterre
    pariterre committed Dec 1, 2023
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  7. Fixed time related tests

    @pariterre
    pariterre committed Dec 1, 2023
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  8. Fixed objective derivative

    @pariterre
    pariterre committed Dec 1, 2023
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Commits on Dec 4, 2023

  1. Added phase transitions to the integration

    @pariterre
    pariterre committed Dec 4, 2023
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  2. Fixed typo in track marker example

    @pariterre
    pariterre committed Dec 4, 2023
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  3. Fixed more tests

    @pariterre
    pariterre committed Dec 4, 2023
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  4. Typo?

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    pariterre committed Dec 4, 2023
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  5. Added shake tree for objectives and constraints

    @pariterre
    pariterre committed Dec 4, 2023
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  6. Adjusted some tests

    @pariterre
    pariterre committed Dec 4, 2023
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  7. fixed graph tests

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    pariterre committed Dec 4, 2023
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  8. Fixed tests ligaments

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    pariterre committed Dec 4, 2023
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  9. Fixed paramters scaling declaration

    @pariterre
    pariterre committed Dec 4, 2023
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  10. Started to clean

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    pariterre committed Dec 4, 2023
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  11. Fixed muscle tracking for COLLOCATION

    @pariterre
    pariterre committed Dec 4, 2023
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  12. Standardized output time

    @pariterre
    pariterre committed Dec 4, 2023
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  13. Added capability to skip expand when shaking tree

    @pariterre
    pariterre committed Dec 4, 2023
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  14. Removed fake setter in transition of penalty (may be a bad idea)

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    pariterre committed Dec 4, 2023
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Commits on Dec 6, 2023

  1. Not much have to go

    @EveCharbie
    EveCharbie committed Dec 6, 2023
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  2. init OK, still need to fix penalty cx_intermediate (shape4)? multi-thred

    @EveCharbie
    EveCharbie committed Dec 6, 2023
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Commits on Dec 7, 2023

  1. My suggestion of refactor for the creation of penalty_option Functions

    @EveCharbie
    EveCharbie committed Dec 7, 2023
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  2. test

    Kevin CO committed Dec 7, 2023
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Commits on Dec 8, 2023

  1. trying to set back correct time phase

    Kevin CO committed Dec 8, 2023
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  2. transferred to states, controls, stochastic_variables

    @EveCharbie
    EveCharbie committed Dec 8, 2023
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  3. setting back time phase correctly

    Kevin CO committed Dec 8, 2023
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  4. Added the capability to allow free variables in the integrator

    @pariterre
    pariterre authored and Kevin CO committed Dec 8, 2023
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Commits on Dec 9, 2023

  1. trying to fix test

    Kevin CO committed Dec 9, 2023
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Commits on Dec 10, 2023

  1. tried to switch to lambda fcn

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    EveCharbie committed Dec 10, 2023
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  2. _get_weighted_function_inputs_from_controller ok?

    @EveCharbie
    EveCharbie committed Dec 10, 2023
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  3. all pendulum tests pass

    @EveCharbie
    EveCharbie committed Dec 10, 2023
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  4. penalty.transition is fucked up

    @EveCharbie
    EveCharbie committed Dec 10, 2023
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  5. removed ode_opt["idx"] following pariterre's confirmation

    @EveCharbie
    EveCharbie committed Dec 10, 2023
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  6. still wrong values, but ONE_PER_NODE is fixed

    @EveCharbie
    EveCharbie committed Dec 10, 2023
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Commits on Dec 11, 2023

  1. fixed derivative

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    EveCharbie committed Dec 11, 2023
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Commits on Dec 12, 2023

  1. Fixed bunch of tests in test_penalty

    @pariterre
    pariterre committed Dec 12, 2023
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  2. Reverted some changes in ode_solver

    @pariterre
    pariterre committed Dec 12, 2023
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  3. Merge remote-tracking branch 'pariterre/master' into fixing_control_t… 

    …ype_none_test
    Kevin CO committed Dec 12, 2023
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  4. Auto stash before merge of "node_time_mx" and "pyomeca/master"

    Kevin CO committed Dec 12, 2023
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  5. trial

    Kevin CO committed Dec 12, 2023
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  6. Forced to revert the idx in integrator as external forces was not int… 

    …egrated with ONE_PER_NODE yet
    @pariterre
    pariterre committed Dec 12, 2023
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  7. Simplified the logic for PenaltyHelpers

    @pariterre
    pariterre committed Dec 12, 2023
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  8. sol.state to sol.decision_state

    Kevin CO committed Dec 12, 2023
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  9. making optimization to converge

    Kevin CO committed Dec 12, 2023
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  10. Introduced subnodes in penalty to unify construction and usage

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    pariterre committed Dec 12, 2023
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  11. Started to fix multinodes

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    pariterre committed Dec 12, 2023
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Commits on Dec 13, 2023

  1. Continued fixing multiphase and fixed MHE

    @pariterre
    pariterre committed Dec 13, 2023
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  2. Still dealing with multinodes

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    pariterre committed Dec 13, 2023
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Commits on Dec 14, 2023

  1. factored multinode dispatch in PenaltyHelpers

    @pariterre
    pariterre committed Dec 14, 2023
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  2. Fixed plotting dispatch issue and removed ControlType.NONE, removed t… 

    …ransition tag in penalty
    @pariterre
    pariterre committed Dec 14, 2023
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  3. Removed save/load features

    @pariterre
    pariterre committed Dec 14, 2023
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  4. Fixed MHE

    @pariterre
    pariterre committed Dec 14, 2023
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  5. same

    @pariterre
    pariterre committed Dec 14, 2023
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  6. Final non passing tests fix

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    pariterre committed Dec 14, 2023
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  7. Merge remote-tracking branch 'pariterre/master' into fixing_control_t… 

    …ype_none_test
    Kevin CO committed Dec 14, 2023
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  8. Added the capability to allow free variables in the integrator

    @pariterre
    pariterre committed Dec 14, 2023
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  9. Fixed scaling variables

    @pariterre
    pariterre committed Dec 14, 2023
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  10. FOR REFERENCE removed fake penalty for derivative

    @pariterre
    pariterre committed Dec 14, 2023
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  11. Finishing derivative for controls

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    pariterre committed Dec 14, 2023
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  12. Merge remote-tracking branch 'pariterre/master' into fixing_control_t… 

    …ype_none_test
    Kevin CO committed Dec 14, 2023
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  13. test

    Kevin CO committed Dec 14, 2023
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  14. .

    Kevin CO committed Dec 14, 2023
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Commits on Dec 15, 2023

  1. added time as states test

    Kevin CO committed Dec 15, 2023
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  2. previous time phase from dt_mx instead of tf

    Kevin CO committed Dec 15, 2023
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  3. Fixing penalty with derivative

    @pariterre
    pariterre committed Dec 15, 2023
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  4. Fixing linear_continuous controls

    @pariterre
    pariterre committed Dec 15, 2023
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  5. Fixed t_span in continuity

    @pariterre
    pariterre committed Dec 15, 2023
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  6. Starting to fix trapezoidal

    @pariterre
    pariterre committed Dec 15, 2023
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Commits on Dec 16, 2023

  1. Just realised that phase_dynamics checking did not even make sense in… 

    … penalties...
    @pariterre
    pariterre committed Dec 16, 2023
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  2. FIxed TRAPEZOIDAL

    @pariterre
    pariterre committed Dec 16, 2023
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  3. Fixed linear_continous

    @pariterre
    pariterre committed Dec 16, 2023
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  4. Just realized that we do not care of the type of integration when dis… 

    …patching controls
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    pariterre committed Dec 16, 2023
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  5. Just realized the same for states, and fixed collocations

    @pariterre
    pariterre committed Dec 16, 2023
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Commits on Dec 17, 2023

  1. Fixed check_conditionning

    @pariterre
    pariterre committed Dec 17, 2023
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  2. Fixed Mayer in multi_thread and plots of fatigue

    @pariterre
    pariterre committed Dec 17, 2023
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  3. Simplifying targets

    @pariterre
    pariterre committed Dec 17, 2023
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  4. Fixed target

    @pariterre
    pariterre committed Dec 17, 2023
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  5. reverted a test changed before

    @pariterre
    pariterre committed Dec 17, 2023
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  6. Fixing derivate=True

    @pariterre
    pariterre committed Dec 17, 2023
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  7. Fixed derivative penalties

    @pariterre
    pariterre committed Dec 17, 2023
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  8. Fixed cyclic and multicyclic export

    @pariterre
    pariterre committed Dec 17, 2023
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  9. Fixed IOCP test

    @pariterre
    pariterre committed Dec 17, 2023
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  10. Fixed SQP

    @pariterre
    pariterre committed Dec 17, 2023
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  11. Fixed graphs

    @pariterre
    pariterre committed Dec 17, 2023
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  12. Allowed for not phase mergeable animation

    @pariterre
    pariterre committed Dec 17, 2023
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  13. fixing stochastic examples

    @pariterre
    pariterre committed Dec 17, 2023
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  14. BUG EMULATION SO THE RESULTS DON'T CHANGE

    @pariterre
    pariterre committed Dec 17, 2023
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Commits on Dec 18, 2023

  1. Better fix for MultiCyclic

    @pariterre
    pariterre committed Dec 18, 2023
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  2. Fixed control dispatching in warm start

    @pariterre
    pariterre committed Dec 18, 2023
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  3. Fixed multinodes in IRK

    @pariterre
    pariterre committed Dec 18, 2023
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  4. Cleaned a bit

    @pariterre
    pariterre committed Dec 18, 2023
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  5. Fix dispatch of bound min and ma x in torque_max_from_q_and_qdot

    @pariterre
    pariterre committed Dec 18, 2023
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  6. Adapated TrackMarker

    @pariterre
    pariterre committed Dec 18, 2023
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  7. Fixed dispatch of markers in animation for collocations

    @pariterre
    pariterre committed Dec 18, 2023
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  8. Better initial guess to converget to same solution

    @pariterre
    pariterre committed Dec 18, 2023
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  9. fixed receding horizon again

    @pariterre
    pariterre committed Dec 18, 2023
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  10. Fixed time related tests in shared4

    @pariterre
    pariterre committed Dec 18, 2023
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  11. Brought back solve_ivp from scipy for multiple shooting

    @pariterre
    pariterre committed Dec 18, 2023
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  12. And single shoot

    @pariterre
    pariterre committed Dec 18, 2023
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  13. Added LINEAR_CONTINUOUS to interpolate (still fails)

    @pariterre
    pariterre committed Dec 18, 2023
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  14. Cleaning helper (may fail?)

    @pariterre
    pariterre committed Dec 18, 2023
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  15. fixing

    @pariterre
    pariterre committed Dec 18, 2023
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Commits on Dec 19, 2023

  1. refactored integration

    @pariterre
    pariterre committed Dec 19, 2023
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  2. Merge remote-tracking branch 'pariterre/master' into fixing_control_t… 

    …ype_none_test
    Kevin CO committed Dec 19, 2023
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  3. Fixed integration with phase merging

    @pariterre
    pariterre committed Dec 19, 2023
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  4. one phase test working for time_as_state

    Kevin CO committed Dec 19, 2023
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  5. Fully committed to not providing states and control property accessor… 

    … in solution as it was confusing
    @pariterre
    pariterre committed Dec 19, 2023
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  6. Added capability to fetch continuous time across phases

    @pariterre
    pariterre committed Dec 19, 2023
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  7. Rewrote the time tests

    @pariterre
    pariterre committed Dec 19, 2023
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Commits on Dec 20, 2023

  1. Fixed variational ocp

    @pariterre
    pariterre committed Dec 20, 2023
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  2. Remove a deprecated test

    @pariterre
    pariterre committed Dec 20, 2023
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  3. Fixed more broken link with removal of states and controls properties

    @pariterre
    pariterre committed Dec 20, 2023
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  4. Loosen a test on time

    @pariterre
    pariterre committed Dec 20, 2023
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  5. Merge branch 'master' into fixing_control_type_none_test

    @pariterre
    pariterre committed Dec 20, 2023
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  6. Changed name of stochastic_variables for algebraic_states

    @pariterre
    pariterre committed Dec 20, 2023
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  7. Added one a

    @pariterre
    pariterre committed Dec 20, 2023
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  8. Fixing more stochastic variables names

    @pariterre
    pariterre committed Dec 20, 2023
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  9. Started to fix stochastic ocp

    @pariterre
    pariterre committed Dec 20, 2023
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  10. Continue

    @pariterre
    pariterre committed Dec 20, 2023
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Commits on Dec 21, 2023

  1. Continuing cleaning stochastic

    @pariterre
    pariterre committed Dec 21, 2023
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  2. Stochastic is almost there

    @pariterre
    pariterre committed Dec 21, 2023
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  3. Fixed a bug when algebraic is None

    @pariterre
    pariterre committed Dec 21, 2023
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  4. Typo

    @pariterre
    pariterre committed Dec 21, 2023
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  5. Fixed most of acados tests

    @pariterre
    pariterre committed Dec 21, 2023
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  6. Fixing last acados tests

    @pariterre
    pariterre committed Dec 21, 2023
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  7. Fixed bug in parameters

    @pariterre
    pariterre committed Dec 21, 2023
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  8. Removing non-passing test for final push

    @pariterre
    pariterre committed Dec 21, 2023
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  9. Changed version file for 3.2.0

    @pariterre
    pariterre committed Dec 21, 2023
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  10. Black the shit out the major thing!

    @pariterre
    pariterre committed Dec 21, 2023
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  11. Merge branch 'master' into tata3

    @pariterre
    pariterre committed Dec 21, 2023
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  12. Fix version bug if developing version does not match relaase version

    @pariterre
    pariterre committed Dec 21, 2023
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