v1.15.0

ModelPredictiveControl v1.15.0

Diff since v1.14.4

• added: C code generation via LinearMPC.jl 🚀
• doc: various improvement in the manual and function sections
• test: new closed-loop tests with LinMPC converted to LinearMPC.MPC

Merged pull requests:

• doc and test: minor modifications (#302) (@franckgaga)
• doc and test: clearer jℓ notation and comparing ExplicitMPC to others move-blocked controllers (#303) (@franckgaga)
• Revise README features section with emojis (#304) (@franckgaga)
• doc: minor README change (#305) (@franckgaga)
• Enhance README.md with emoji section headers (#306) (@franckgaga)
• 🚀 added: C code generation via LinearMPC.jl (#307) (@franckgaga)
• changed: loosened argument type for vectors in API (#308) (@franckgaga)

Closed issues:

• Code generation (#124)

v1.14.4

ModelPredictiveControl v1.14.4

Diff since v1.14.3

Merged pull requests:

• debug: correctly handle custom move blocking for LinModel (#301) (@franckgaga)

Closed issues:

• Move blocking patterns are not correctly handled for LinModel (#300)

v1.14.3

ModelPredictiveControl v1.14.3

Diff since v1.14.2

Merged pull requests:

• debug: default terminal constraint softness parameters c_x̂min/max equal to 1 (#299) (@franckgaga)

v1.14.2

ModelPredictiveControl v1.14.2

Diff since v1.14.1

Merged pull requests:

• added: fetching actual LangrangeMultiplier in getinfo (#298) (@franckgaga)

v1.14.1

ModelPredictiveControl v1.14.1

Diff since v1.14.0

Merged pull requests:

• doc: clearer sentences in getinfo (#292) (@franckgaga)
• added: optimal nonlinear constraint vectors in getinfo (#294) (@franckgaga)
• Bump version from 1.14.0 to 1.14.1 (#295) (@franckgaga)

v1.14.0

ModelPredictiveControl v1.14.0

Diff since v1.13.3

• added: derivatives in getinfo dictionnary for NonLinMPC and MovingHorizonEstimator

Merged pull requests:

• build(deps): bump actions/checkout from 5 to 6 (#288) (@dependabot[bot])
• bench: added getinfo function in unit tests (#289) (@franckgaga)
• added: derivatives in getinfo dictionnary for NonLinMPC and MovingHorizonEstimator (#290) (@franckgaga)

v1.13.3

ModelPredictiveControl v1.13.3

Diff since v1.13.2

• added: RandomOrder in default sparse backend for jacobian and hessian in NonLinMPC and MovingHorizonEstimator

It should be non-breaking in most cases. It's only a performance improvements to potentially reduce the number of colors for differentiation.

Merged pull requests:

• added: RandomOrder in default sparse Jacobian and Hessian backends (#286) (@franckgaga)
• bench: new EMPC tests with hessian=true (#287) (@franckgaga)

v1.13.2

ModelPredictiveControl v1.13.2

Diff since v1.13.1

• changed: new default sparse backend for jacobian and hessian in NonLinMPC and MovingHorizonEstimator

It should be non-breaking in most cases. It's only a performance improvements to potentially reduce the number of colors for differentiation

Merged pull requests:

• Modify MPC setup to use MovingHorizonEstimator (#281) (@franckgaga)
• Fix typo in README for MovingHorizonEstimator (#282) (@franckgaga)
• changed: better jacobian and hessian defaults for the sparse case in NonLinMPC and MovingHorizonEstimator (#283) (@franckgaga)
• bench: add custom constraint tests with hessian=true (#284) (@franckgaga)
• changed: sparse backends default to post-processing (#285) (@franckgaga)

Closed issues:

• Fiddling with the coloring (#280)

v1.13.1

ModelPredictiveControl v1.13.1

Diff since v1.13.0

• debug: prepare AD with rand constant contexts
• debug: only fills non-zeros in ∇²f of @operator

Merged pull requests:

• debug: prepare AD with rand constant contexts (#278) (@franckgaga)
• debug: only fills non-zeros in ∇²f of @operator (#279) (@franckgaga)

Closed issues:

• Support exact Hessians of Lagrangian NonLinMPC and MovingHorizonEstimator (#181)

v1.13.0

ModelPredictiveControl v1.13.0

Diff since v1.12.0

• added: hessian argument in NonLinMPC for exact Hessian of Lagrangian 🎯
• added: hessian argument in MovingHorizonEstimator for exact Hessian of Lagrangian 🎯
• added: trunc_cov function for MHE (to optimize perf. of dot in objective function)
• added: lastu keyword argument to moveinput!

Merged pull requests:

• test: adding trivial tests with oracle=false (#271) (@franckgaga)
• added: lastu keyword argument to moveinput! (#274) (@franckgaga)
• added: hessian keyword argument in NonLinMPC (#275) (@franckgaga)
• added: trunc_cov function for MHE (to optimize perf. of dot in objective function) (#276) (@franckgaga)
• added: hessian keyword argument for MovingHorizonEstimator (#277) (@franckgaga)