OpEn v0.12.0 and Opengen v0.11.0

Key changes

This release brings several bug fixes, improvements, and the following brand new features:

• Single and double precision (f64 and f32) are supported in Rust
• Opengen generates ROS2 packages
• A new MATLAB API that allows to interface solvers generated in Python (incl. ones generated with the new OCP module)
• Transparent error handling (not just "solver failed" messages)
• Significantly updated documentation on the website

Autogenerated changelog

• Python packaging with pyproject.toml by @alphaville in #395
• Rust constraints: additional unit tests by @alphaville in #396
• OpEn: good error handling by @alphaville in #407
• Support float types in Rust by @alphaville in #399
• Replace instant with web-time by @alphaville in #389
• ROS2 support by @alphaville in #400
• Better error handling and reporting (Rust & TCP) by @alphaville in #406
• Handling errors via py bindings by @alphaville in #411
• ROS2: error handling by @alphaville in #412
• New MATLAB-to-Python API by @alphaville in #404
• Update CI badge link in README.md by @alphaville in #415
• C bindings error handling by @alphaville in #414
• GA CI: tests on Windows and more by @alphaville in #417
• Cleanup folder structure by @alphaville in #418
• Constraint dimension checking and lazy imports by @alphaville in #421
• 🎯 New OpEn/opengen/matlab releases by @alphaville in #408

Full Changelog: v0.11.1...v0.12.0

Opengen v0.10.1

What's Changed

• Python packaging with pyproject.toml by @alphaville in #395

Published version on pypi

See opengen 0.10.1

Full Changelog: v0.11.1...opengen-0.10.1

OpEn v0.11.1

What's Changed

• Return best inner solution by @alphaville in #388

Published version

• OpEn v0.11.1 on crates.io

Full Changelog: v0.11.0...v0.11.1

Opengen v0.10.0

What's Changed

Added

• New high-level opengen.ocp package for constructing optimal control problems from dynamics, stage/terminal costs, named parameters, and OCP-oriented constraints
• Support for both single-shooting and multiple-shooting formulations, including penalty- and ALM-based constraint lowering
• GeneratedOptimizer wrapper with solve(x0=..., xref=...) API and persistent optimizer metadata via optimizer_manifest.json plus rollout.casadi
• Continuous-time dynamics discretization helpers in opengen.ocp.DynamicsDiscretizer, including Euler, midpoint, Heun, RK4, and multistep discretizations
• Extended OcpSolution with solver diagnostics such as cost, penalty, iteration counts, infeasibility, fixed-point residual, and Lagrange multipliers
• Detailed documentation available here, incl. Google Colab notebooks, and updated API docs

Changed

• Changed the default penalty weight update factor to 1.75
• Added and refined OCP documentation, docstrings, notebook examples, and automated tests
• Improved readability of printed OCP solver results

Fixed

• Avoid duplicate builder log messages by disabling propagation to the root logger
• Use reliable package version lookup when recording the installed CasADi version in optimizer manifests
• Check valid version in with_version

Full Changelog: opengen-0.9.6...opengen-0.10.0

Opengen 0.10.0a2 (preview, RFC)

Main changes: documentation available on the website, simplification of Cartesian products of multiple rectangles and sets $\{0\}$, more unit tests, number formatting when printing OcpSolution. Default penalty update parameter is now 1.75.

Full Changelog: opengen-0.10.0a1...opengen-0.10.0a2

Opengen 0.10.0a1 (preview, RFC)

This is a preview alpha version of opengen version 0.10.0. See the details and write your comments in #390. You can try it out using this Python notebook. This addresses the issue #313.

Main changes: New Python package in opengen that facilitates the construction of optimal control problems.

Full Changelog: opengen-0.9.6...opengen-0.10.0a1

OpEn v0.11.0 and Opengen v0.9.6

Published versions

• OpEn v0.11.0
• opengen v0.96

What's Changed

In OpEn (Rust)

• Implementation of BallP in Rust: projection on lp-ball
• Algorithmic improvements in EpigraphSquaredNorm (numerically stable Newton refinement) and more detailed docs
• Assertion in Ball1, Ball2, and BallInf to check that that dimensions of x and xc are compatible (with unit test)
• Added validation in Rectangle and Hyperplane for invalid constructor inputs and strengthened dimension checks in hyperplane projection
• Added validation in Sphere2 for empty inputs and incompatible center dimensions
• Added validation in FiniteSet for incompatible projection dimensions and corrected convexity detection for singleton sets
• Added unit tests for invalid Rectangle, Simplex, Hyperplane, Sphere2, and FiniteSet edge cases
• Typos and doctest annotations in docs of CartesianProduct (in Rust), Rectangle, and Hyperplane, with more detailed documentation

In Opengen

• Clippy fixes (minor)

Full Changelog: v0.10.0...v0.11.0

OpEn v0.10.0 and Opengen v0.9.5

Published versions

• OpEn v0.10.0
• Opengen v0.9.5

What's Changed

• Update ndarray requirement from 0.15 to 0.16 by @dependabot[bot] in #354
• Update docker image by @alphaville in #340
• Support for affine spaces in code generation by @alphaville in #344
• Getting rid of warning in TCP iface by @alphaville in #342
• Issue with multiple solvers by @alphaville in #363
• Update email in setup.py by @alphaville in #365
• Fix cross compilation issue by @alphaville in #368
• Update modcholesky requirement from 0.1 to 0.2 by @dependabot[bot] in #359
• Increase of testing coverage by @alphaville in #339
• Update rand requirement from 0.9 to 0.10 by @dependabot[bot] in #377
• Update lbfgs requirement from 0.2 to 0.3 by @dependabot[bot] in #375
• Update icasadi_test requirement from 0.0.2 to 0.0.3 by @dependabot[bot] in #371
• Safer templates_dir implementation by @alphaville in #382
• Fix #378 and #380 by @alphaville in #381

Full Changelog: v0.9.1...v0.10.0

opengen-0.9.4

What's Changed

• Fix cross compilation issue by @alphaville in #368

Full Changelog: opengen-0.9.3...opengen-0.9.4

Opengen 0.9.3

What's Changed

• Update email in setup.py by @alphaville in #365

Full Changelog: opengen-0.9.2...opengen-0.9.3