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CHANGELOG.rst

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Version 1.4.0.dev0

  • Dropped support for Python 3.8.
  • Added support for Python 3.13.
  • Examples added: - Crane moving a load - Ball rolling on spinning disc - Mississippi steamboat - Noncontiguous parameter identification
  • ConstraintCollocator raises an error if all equations of motion are algebraic, i.e. none are differential equations.
  • plot_constraint_violations() now returns a variable number of subplot rows depending on the number of instance constraints. This makes the plot readable with large numbers of instance constraints.
  • Internal common sub expression replacement symbols are now assumed to be real.

Version 1.3.0

  • Added support for Python 3.12.

  • Added a function that generates a numerical objective function and its gradient from a symbolic objective function: create_objective_function().

  • Fixed constraint violation plot on Problem by removing the assumption that each equation of motion was simply a function of one state.

  • Added an option to display the Cython compilation output and to automatically display the output if compilation fails. Display does not always work on Windows due to limitations in Python's capturing STDOUT on Windows with certain system encodings.

  • Added support for variable duration solutions by passing in a symbol for the node time interval instead of a float.

  • Switched to Sphinx Gallery for displaying examples in the documentation.

  • Moved the three documentation examples to the Sphinx Gallery page.

  • Added new examples:

    • A variable duration pendulum swing up example.
    • A car parallel parking example.
    • A quadcopter drone flight example.
    • A cycling time trial example that uses SymPy's new muscle models.
    • A block sliding over a hill example.

  • Updated the generated Cython code to use memory views.

  • Problem now supports solving problems with no unknown input trajectories.

  • Corrected plot ordering for the trajectories so that mismatches no longer occur.

  • Improved default plot display for larger number of variables and support customizing axes to default plots.

  • Problem and other primary classes and methods can now be imported directly from the top level opty namespace, e.g. from opty import Problem.

  • Better handling of SymPy variable names that generate invalid or clashing C variable names by appending an underscore to all opty generated C variable names.

  • Switched to pytest for unit testing.

Version 1.2.0

  • Dropped support for Python 2.7, 3.6, & 3.7.
  • Added support for Python 3.9, 3.10, & 3.11.
  • Bumped minimum dependencies up to versions released around mid 2020, except for cyipopt which is set to 1.1.0 since that is the first version released on PyPi under the name cyipopt (instead of ipopt).
  • Much faster symbolic Jacobian algorithm introduced. For constraints made up of hundreds of thousands SymPy operations there can be greater than 200X performance increase.
  • logging.info() used for providing information to the user.
  • Moved to Github Actions continous integration.

Version 1.1.0

  • Added support for Windows.
  • Drop support for Python 3.5, add support for 3.7 and 3.8.

Version 1.0.0

  • Added JOSS paper.
  • Added theory section to the documentation.
  • Added optional parallel execution if openmp is installed.
  • Fixed a bug in plot_trajectories.
  • Adjusted the pendulum swing up torque bounds.
  • Updated examples to work with newer dependency versions.

Version 0.2.0

  • Added Sphinx documentation and Read The Docs integration.
  • Added plotting to the Problem class and matplotlib as an optional dependency.
  • Added conda forge installation instructions and Anaconda badge to the README.
  • park2004 example now works with both Python 2.7 and 3.5+.
  • Bumped the min dependencies for SymPy and PyDy to 1.0.0 and 0.3.0.

Version 0.1.1

  • Added a MANIFEST.in file.

Version 0.1.0

  • Initial release.