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ChangeLog
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2024-05-01 <rfranke>
* hxi/fmi.tcl, omu/{Prg_DTEst.C, Prg_DynamicEst.C}, odc/omu.tcl:
- support string valued parameters
* odc/omu.tcl:
- adapt to current OpenModelica omc compiler, version 1.22
2022-05-05 <e-arnold>
* configure.in
- add -std=legacy to FORTRAN_FLAGS
* hxi/fmi.tcl:
- catch error for file attributes
2020-11-12 <rfranke>
* meschach/symmeig.c, meschach/version.c:
- flip comparison for split in trieig to treat numerical overflow
(cf. similar fix in meschach/hessen.c on 11/01/00)
2020-09-17 <rfranke>
* omu/Prg_DynamicOpt.C, omu/Prg_DynamicEst.C:
- restrict evaluation of clocked partitions during update
(was introduced on 2018-09-29 for numerical differentiation)
2020-02-22 <rfranke>
* hxi/fmi.tcl:
- add function for list of FMI model variables
2019-07-02 <rfranke>
* omu/Omu_Model.[hC], Prg_DTOpt.C, Prg_DTEst.C:
- fix creation of multiple FMUs for parallel threads
(was introduced on 2018-06-12: limit number of parallel threads)
2019-06-20 <rfranke>
* hqp/Hqp_Docp.C:
- fix memory leak for parallel multiple shooting
(was introduced on 2018-06-12: limit number of parallel threads)
2018-12-17 <rfranke>
* omu/Prg_DynamicOpt.[hC], omu/Prg_DTOpt.[hC]:
- introduce mdl_y0_soft_min,max,weight1,weight2
- fix analytic Jacobian for mdl_der_u_soft_min,max
2018-09-29 <rfranke>
* omu/Prg_DTEst.[hC], omu/Omu_Init.C, omu/Makefile, hqp/Hqp_Docp.C, odc/did_dtest.tcl:
- exploit sparse Jacobian of discrete-time FMUs for estimation
* omu/Prg_DTOpt.[hC], omu/Prg_DynamicOpt.[hC], omu/Prg_DynamicEst.[hC], did_fmu_est.tcl:
- evaluate clocked partitions during update for numerical differentiation
- don't save results if within_grds to exclude perturbed values
2018-06-12 <rfranke>
* omu/Omu_Model.[hC], omu/Prg_DTOpt.C, omu/Prg_DynamicOpt.C, omu/Prg_DynamicEst.C:
- evaluate first tick after initialization of discrete-time models
- limit number of parallel threads to number of stages
2018-05-31 <rfranke>
* hxi/fmi.tcl:
- fix binary path for 64 bit Windows
* configure, configure.in:
- use regular LPSolve package under Linux
2018-04-17 <rfranke>
* omu/Prg_DTOpt.[hC], omu/Omu_Init.C, omu/Makefile,
odc/cstr.tcl, odc/did_dtopt.tcl:
- rename DOCP to DTOpt program
* odc/omc.tcl:
- update to OpenModelica 1.13 with analytic Jacobian
2018-03-17 <rfranke>
* odc/CSTR.mo, odc/cstr.tcl, odc/omc.tcl:
- add CSTR example for discrete-time optimal control
* hxi/sfun_fmu.c:
- support fmi2GetDirectionalDerivative for models with discrete states
* omu/Omu_Model.[hC]:
- consider string parameters during setup of sparse Jacobian
* omu/Prg_DOCP.C (update_vals):
- fix initialization of states for parallel multiple shooting
2018-03-05 <rfranke>
* omu/Prg_DOCP.C (update_vals):
- evaluate initial clock during initialization
- initialize states from parameters
2017-11-20 <rfranke>
* hxi/sfun_fmu.c:
- support mdlJacobian for models with non-real variables
2017-10-30 <rfranke>
* hxi/sfun_fmu.c:
- call fmi2GetDirectionalDerivative if provided by FMU
* omu/Omu_Model.C:
- change default model logging from If_LogNone to If_LogError
2017-10-07 <rfranke>
* hqp/Hqp_IpPARDISO.[hC], Hqp_Init.C, Hqp_omp.h:
- rename from Hqp_IpPardiso.[hC]
- add mat_ncpu option accessing OpenMP
* hqp/pardiso_wrapper.[hc], configure, configure.in, makedefs.in:
- compile and link MKL PARDISO into separate shared object
2017-10-03 <rfranke>
* hqp/Hqp_IpPardiso.[hC]:
- change argument types in call to Pardiso from int to long
- enable iterative refinement steps
- remove nparallel option as this is treated internally
* iftcl/If_Element.C:
- trace exception details only if compiled with DEBUG flag
* hxi/sfun_fmu.c, hxi/Hxi_SimStruct.C, omu/Prg_DynamicOpt.C:
- treat missing FMI Jacobian
2017-08-29 <rfranke>
* hxi/sfun_fmu.c, hxi/fmi.tcl:
- initialize clock intervals in absence of discrete states as well
2017-07-15 <rfranke>
* meschach/meminfo.c, meschach/version.c, configure.in, configure:
- add pragma omp critical to memory supervision
* hxi/sfun_fmu.c:
- prevent call to clock functions in continuous FMUs
2017-07-03 <rfranke>
* iftcl/If.C, hxi/sfun_fmu.c, omu/Prg_DOCP.C, configure, configure.in:
- restrict logging during parallel execution to master thread
* omu/Prg_DOCP.C:
- obtain mdl_y_lambda only at initial time point
2017-07-01 <rfranke>
* configure, configure.in:
- add configuration of OpenMP flag for cl
* hxi/sfun_fmu.c:
- treat FMU paths with whitespaces and special characters
* omu/Prg_DOCP.C, omu/Prg_DynamicOpt.C:
- fix evaluation of Jacobian for soft constraints without weight
- always use states for optimized inputs
2017-06-28 <rfranke>
* omu/Prg_DOCP.[hC], omu/Omu_Init.C, omu/Omu_Model.[hC], hxi/sfun_fmu.c:
- extend FMU interface for parallel model evaluation
* hqp/Hqp_Docp.[hC]:
- make number of CPUs configurable
* odc/did_docp.tcl:
- add example
2017-06-25 <rfranke>
* hqp/Hqp_omp.h, hqp/Hqp_Docp.[hC], omu/Omu_Model.[hC]
omu/Prg_DynamicOpt.C, omu/Prg_DynamicEst.C:
- extend model update with pragma omp parallel for
* configure, configure.in:
- add option --enable-omp
* hxi/sfun_fmu.c, omu/Prg_DynamicOpt.C, omu/Prg_DynamicEst.C:
- set sample time during each update
2017-05-22 <rfranke>
* hxi/sfun_fmu.c, hxi/fmi.tcl:
- add mdlJacobian to FMU interface
* omu/Omu_Model.[hC], omu/Prg_DynamicOpt.C, omu/Prg_DynamicEst.C:
- treat sparse pattern of Jacobian
2017-05-03 <rfranke>
* hxi/fmi.tcl, hxi/sfun_fmu.c:
- treat discrete states based on previous values
* iftcl/If_Element.C:
- catch errors of nested calls to If_Element::tclCmd
* omu/Hqp_Omuses.C, omu/Omu_Dependents.h, omu/Omu_Deps.C,
omu/Prg_DynamicOpt.[hC]:
- pass Lagrange multipliers to DynamicOpt program
* configure.in, configure:
- change to development version 1.9.9
2017-01-09 <rfranke>
* hxi/sfun_fmu.c, omu/Prg_DynamicOpt.C, omu/Prg_DynamicEst.C:
- introduce subactive evaluation mode for discrete FMUs
(needed to initialize clocked variables during consistic)
- add log messages
2017-01-06 <rfranke>
* hxi/fmi.tcl
- fix sorting of state names with subscripts
- add quotes to String values
2016-06-12 <rfranke>
* omu/Prg_DynamicOpt.C, omu/Prg_DynamicEst.C, hxi/sfun_fmu.c, hxi/fmi.tcl,
odc/DID.mo, odc/did_fmu_est.tcl, odc/dic_mex_sfunction_est.tcl:
- support optional fixed start values for discrete-time FMUs
- support mixed discrete/continuous FMUs
2016-05-28 <rfranke>
* meschach/matrix.h, meschach/submat.c, hqp/Hqp_LPSolve.C
- avoid name clash between LPSolve and Meschach for get_row
* hxi/fmi.tcl
- preserve file attributes when unzipping FMUs
2016-04-13 <rfranke>
* hxi/fmi.tcl
- move clocks of discrete-time FMUs to type definitions
2016-01-10 <e-arnold>
* omu/Omu_Program.C
- use myfree() for ADOL-C 2.6.0
2016-01-07 <e-arnold>
* configure:
- add -std=c++11 to CXXFLAGS (required by ADOL-C)
* omu/Omu_Pragram.h:
- adapt for ADOL-C 2.5.2
* hxi/sfun_fmu.c, odc/Odc_Main.c, meschach/{err.c, ivecop.c, matlab.c,
matrix.h, matrixio.c, memstat.c, sparseio.c, sprow.c, version.c}:
- remove several warnings
2015-10-19 <rfranke>
* hxi/sfun_fmu.c, omu/Omu_Model.[hC],
omu/Prg_DynamicOpt.C, omu/Prg_DynamicEst.C:
- extend interface of discrete-time FMUs with sample interval
* odc/{did_fmu_est.tcl, DID.mo, did_fmu.tcl dic_fmu_est.tcl},
omu/Hqp_Omuses.C:
- add discrete-time estimation example
2015-10-17 <rfranke>
* hxi/fmi.tcl, hxi/sfun_fmu.c, odc/DID.mo, odc/did_fmu.tcl, odc/omc.tcl,
omu/Prg_DynamicOpt.C, omu/Prg_DynamicEst.C:
- implement support for discrete-time FMUs
- add discrete-time double integrator example
2015-10-01 <rfranke>
* configure, configure.in:
- release 1.9.8
2015-09-30 <rfranke>
* omu/Omu_Model.[hC] omu/Prg_DynamicOpt.C, omu/Prg_DynamicOpt.C:
- introduce flag _mdl_needs_init to call mdlInitializeConditions
only if really needed (fixing change on 2015-02-24)
2015-02-24 <rfranke>
* omu/Prg_DynamicOpt.C, omu/Prg_DynamicOpt.C:
- setup_stages always sets _t0_setup_model to ensure
subsequent call to mdlInitializeConditions
2015-01-13 <rfranke>
* omu/Prg_DynamicEst.C:
- initialize nominal values of parameters from FMU
2015-01-12 <rfranke>
* hxi/fmi.tcl: extract new FMU having older time stamp as well
* hxi/sfun_fmu.c: don't call fmi2Terminate for better reuse existing instance
* omu/Prg_DynamicOpt.C: bug fix for pure control vector parameterization
* omu/Prg_DynamicEst.C: fix memory leak (introduced on 2014-07-30)
* odc/Makefile.in: update make clean
2015-01-09 <rfranke>
* odc/DrumBoiler.mo, odc/drumboiler.tcl, odc/drumboiler_sp.tcl:
- add dynamic and steady-state drum boiler optimization examples
* odc/omc.tcl
- allow diagnostic messages without raising an error
2015-01-02 <rfranke>
* hxi/hxi.tcl, omu/Omu_Model.[hC]:
- improve loading and release of FMU
* hqp/Meschach.h, iftcl/If.h, hqp/Hqp.h:
- adapt inline specifiers to DLL export
2014-12-30 <rfranke>
* hxi/sfun_fmu.c:
- avoid repeated loading of a binary FMU
- delay fmi2SetupExperiment until start values have been set
2014-12-29 <rfranke>
* iftcl/*.h, hqp/*.h, omu/*.h, makedefs.in, configure.in, configure:
- add declaration specifiers for DLL generation
* odc/Makefile.in:
- add BatchReactor_bare to non ADOL-C examples
* meschach/err.[hc], meschach/matdef.h:
- rename global restart to m_restart
- remove unused code
* hqp/Meschach.[hC], meschach/addon2_hqp.[hc], hqp/Makefile, meschach/makefile:
- move Meschach addons from hqp/Meschach to meschach/addon2_hqp
* hxi/fmi.tcl, hxi/sfun_fmu.c:
- order variables alphabetically
* omu/Omu_Model.C:
- use zero for undefined start values for states
2014-12-11 <rfranke>
* hxi/sfun_fmu.c:
- add detection of time and state events
- call fmi2SetupExperiment instead of initial fmi2SetTime
- only call fmi2Terminate if FMU has been initialized
* hxi/fmi.tcl:
- mark extracted FMU dirs hidden with prepended dot
* odc/omc.tcl:
- parse multi-line error messages
- force copy of compiled FMU
2014-11-22 <rfranke>
* hxi/fmi.tcl:
- improve XML parsing of FMI model description
* meschach/sparse.c, meschach/matdef.h, meschach/version.c:
- fix memory leak in sp_resize
2014-09-24 <rfranke>
* odc/DIC.mo, odc/sfun_fmu.tcl, odc/sfun_fmu_est.tcl, odc/Makefile.in:
- add example for FMI defining the model with Modelica
* odc/omc.tcl:
- compile Modelica model to FMU using OpenModelica
2014-08-14 <rfranke>
* iftcl/If.C, hxi/sfun_fmu.c:
- fix logging introduced on 8/11
2014-08-11 <rfranke>
* hxi/sfun_fmu.c:
- make logging configurable at runtime
- don't call state related functions if there are no states
* omu/Omu_Model.[hC], Prg_Dynamic*.C, hxi/sfun_fmu.c:
- add configurable logging
- check errors of mdlTerminate
* omu/Prg_DynamicEst.C: minor fix for initialization of x0
* iftcl/If.h, iftcl/If*.[hC], hqp_docp/Docp_Main.C:
- change argument references to pointers to
allow inclusion of If.h into C code, besides C++
- add If_Log functionality
2014-08-04 <rfranke>
* hxi/sfun_fmu.c:
- improve supervision of memory management
2014-08-02 <rfranke>
* omu/Omu_Model.C:
- bug fix for I/O ports with dimension of zero
* hxi/sfun_fmu.c:
- add support for tunable parameters introduced with FMI 2.0
2014-07-31 <rfranke>
* omu/Prg_*.[hC], omu/Omu_Init.C, omu/Makefile:
- rename generic predefined programs to DynamicOpt and DynamicEst
* omu/Hqp_Omuses.[hC]: add C++ member access methods
2014-07-30 <rfranke>
* hxi/sfun_fmu.c, fmi*.h: upgrade from FMI 2.0 RC1 to FMI 2.0
* hxi/fmi.tcl:
- treat directory entries in fmu zip files
- treat variables with multiple categories, like output and state
* omu/Omu_Model.[hC], omu/Prg_SFunction*.[hC], hxi/fmi.tcl:
- automatically obtain nominal values from model description for FMUs
* omu/Omu_Model.[hC], omu/Prg_SFunction*.C:
- obtain start values for states and inputs from
model description for FMUs
* hxi/sfun_fmu.c:
- don't obtain initial states in mdlInitializeConditions
because they can generally only be obtained with inputs available
* hqp/Hqp_Init.C (Hqp_InitSignalHandler): provide return value
2014-05-02 <rfranke>
* configure.in, configure, makedirs.in:
- improve dynamic loading of Omuses under Linux and OSX
* hqp/{Hqp_Init.C, Hqp.h}, hqp_docp/Docp_Main.C, odc/Odc_Main.c:
- move setup of signal handler into separate Hqp_InitSignalHandler
in order to make it optional
2014-05-01 <rfranke>
* meschach/{machine.h, matdef.h, spbkp.c, version.c},
iftcl/{If_Class.C, If_IntVec.C}, hqp/Hqp_DocpAdol.C,
hxi/Hxi_SimStruct.C, omu/Omu_IntDASPK.C:
- remove use of deprecated malloc.h (use stdlib.h instead)
* omu/Omu_Model.C, hxi/sfun_fmu.c:
- support special characters in model names
2014-04-26 <rfranke>
* omu/Omu_Init.C, omu/Makefile:
- add ::fmi as built-in code to Omuses
* hxi/fmi.tcl:
- support for reading model description of FMI 1.0
- fix reading of Jacobian structure with derivatives
- make dependency of vfs::zip local to ::fmi::extractModel
- exploit built-in zlib available since Tcl 8.6
* omu/Prg_SFunctionOpt.C, omu/Prg_SFunctionEst.C:
- add command prg_setup_model
* omu/Omu_Model.C:
- fix global namespace for set command
2014-04-21 <rfranke>
* hxi/fmi.tcl, hxi/sfun_fmu.c:
- extract all files from FMU, including also resources
- treat custom modelIndentifier when loading binary
2014-03-27 <rfranke>
* hxi/sfun_fmu.tcl:
- move event processing completely to mdlOutputs
2014-03-15 <rfranke>
* hqp/Hqp.[hC], hqp/Hqp_DocpWrapper.h, hqp/Makefile,
hqp/Hqp_SqpProgram.[hC], hqp/Hqp_Docp.h, iftcl/If_List.h
hqp_docp/Prg_DIC.[hC], hqp_docp/Docp_Main.C,
omu/Hqp_DocpStub.[hC], omu/Makefile:
- remove C calling interface between Hqp and Omuses
* omu/Omu_Init.C, omu/Hqp_Omuses.[hC]:
- inherit Hqp_Omuses from Hqp_Docp, bypassing C calling interface
* hqp/Hqp_SqpProgram.C:
- bug fix for creation of integer programs
* hxi/fmi.tcl:
- determine sparse model structure from XML description
* hxi/sfun_fmu.c:
- bug fix for initialization of model name
* omu/Omu_Model.[hC], omu/Prg_SFunction.[hC]:
- rename base class Prg_SFunction to Omu_Model
2014-03-09 <e-arnold>
* hqp/Hqp_IpsMehrotra.C:
- bug fix in maximum step size
2014-03-08 <rfranke>
* omu/Prg_SFunction*.[hC], omu/Omu_Variables.[hC], hxi/sfun_fmi.c:
- get parameter values from FMU if no mdl_args specified
- decouple Prg_SFunction from inheritance chain
- move Omu_OptVarVec from Prg_SFunctionOpt to Omu_Variables
2014-03-04 <rfranke>
* hxi/sfun_fmu.c, hxi/fmi.tcl, hxi/Hxi_SimStruct.C, hxi/README,
hxi/fmiTypesPlatform.h, hxi/fmiFunctionTypes.h, hxi/fmiFunctions.h,
omu/Makefile:
- add interface to FMI 2.0 for model exchange
* hxi/cg_sfun.h:
- minor bug fix
* configure, configure.in:
- change to development version 1.9.7
2014-03-01 <rfranke>
* configure, configure.in, .gitignore, INSTALL.html:
- release 1.9.7
2014-02-25 <e-arnold>
* hqp/Hqp_IpsMehrotra.C:
- fix treatment of QP without inequality constraints
2014-02-19 <rfranke>
* configure.in, configure, hqp/Makefile, install_name:
- add initial support for Mac OSX provided by Pär Winzell
* ChangeLog:
- remove trailing whitespaces
2014-02-15 <rfranke>
* omu/Prg_SFunctionOpt.[hC]:
- introduce mdl_y_order (default: 1)
- fix treatment of inactive inputs for zero order hold
2014-01-30 <e-arnold>
* omu/adoublev.C, configure.in, configure:
- adoublev operator improvement (thanks to Vitalij Ruge)
2014-01-30 <e-arnold>
* odc/crane.tcl, odc/bio.tcl, odc/dic_mex_sfunction.tcl,
odc/dic_mex_sfunction_est.tcl, odc/dic_mex_sfunction_int.tcl:
- try rbc, if BLT not available
2014-01-29 <e-arnold>
* Makefile, configure.in, makedefs.in, makedirs.in, omu/Makefile,
omu/Omu_IntODE.C, omu/Omu_IntOdeTs.C, omu/Omu_Program.[hC],
omu/adoublev.[hC], odc/Makefile.in:
- remove ADOL-C from source tree and re-implement adoublev
2014-01-28 <rfranke>
* configure, configure.in:
- change to development version 1.9.7
* iftcl/*.[hC], iftcl/Makefile, hqp/*.[hC], hqp/hqp_solve.tcl,
omu/Prg_SFunction.h, odc/Prg_CranePar.[hC]:
- remove deprecated interface elements in order to support Tcl 8.6
2014-01-27 <e-arnold>
* meschach/*.c:
- improved loop unrolling (machine.c):
__sub__, __add__, __smlt__, __mltadd__, __ip__, __zero__
- bug fixes:
bd_resize, bd_transp, m_move, ifft, m_save, swap_rows, swap_cols,
QRcondest, Dsolve, v_mltadd
- memory leak fixes:
m_inverse, px_cols, px_rows
2014-01-25 <rfranke>
* README.md, INSTALL.html, configure.in, configure:
- release 1.9.6
- add online docu in branch gh-pages
2014-01-23 <rfranke>
* hxi/Hxi_SimStruct.[hC]:
- move mxFree into the compilation unit that allocates memory
2014-01-22 <rfranke>
* README.html, README.md, INSTALL.html, Makefile, doc/Doxyfile.in:
- update docu
- use MathJax instead of LaTeX/png for math typesetting
- use svg instead of png for class graphs
- disable generation of LaTeX/PDF source code docu
* hqp, hxi, omu:
- fix doc comments to avoid errors from LaTeX
2014-01-21 <rfranke>
* adol-c/hqp_adolc.patch:
- clean up pointer to string constants
* configure.in, configure:
- correct PIC flag for ADOL-C (thanks to Vitalij Ruge)
2014-01-14 <rfranke>
* hqp/Hqp_IpsMehrotra.C:
- initialize status variables before possible error break
2014-01-13 <rfranke>
* rksuite/rksuite.f
- merge rksuite.org.f into rksuite.f
* odc/batchreactor.tcl, odc/runall
- update tests for batch reactor example
2014-01-12 <rfranke>
* odc/Prg_BatchReactor.[hC], odc/Prg_BatchReactor_bare.[hC]:
- add batch reactor example
* iftcl, hqp, omu, odc:
- clean up pointers to string constants
2014-01-11 <rfranke>
* configure.in, configure:
- improve autoconf of tcl.h
2014-01-09 <e-arnold>
* Makefile.hqp, INSTALL.html:
- replace mkdirhier by mkdir -p
* configure.in:
- add Fortran libraries to OMU_MACH_OBJS
2013-07-15 <rfranke>
* omu/Prg_SFunctionOpt.C, omu/Prg_SFunctionEst.C:
- bug fixes for discrete-time states
2013-07-10 <rfranke>
* omu/Prg_SFunctionOpt.[hC]:
- introduce mdl_der_u_soft_min/max/weight1/weight2
* hxi/Hxi_mx_parse.h:
- accept double quotes as string delimiters, besides single quotes
2010-08-29 <rfranke>
* hqp/Hqp_IpPardiso.[hC]:
- rename mat_fname to mat_funcname
2010-08-14 <rfranke>
* hqp/Hqp_IpPardiso.[hC], hqp/Hqp_DynLoad.[hC], hqp/Makefile:
- include Pardiso solver interface with regular build
using dynamic load of solver lib at runtime
2010-08-09 <rfranke>
* omu/Prg_SFunctionOpt.[hC]:
- add support for integer-valued states (mdl_x_integer)
- bug fix Jacobian for junction conditions (introduced 2010-08-08)
2010-08-08 <rfranke>
* omu/Prg_SFunction.[hC], omu/Prg_SFunctionOpt.C, omu/Prg_SFunctionEst.C:
- add support for discrete sample times
* hxi/Hxi_MEX_SFunction.C, hxi/Hxi_SimStruct.[hC], hxi/Hxi_SimStruct_methods.h:
- add support for discrete sample times
(ssIsSampleHit, ssGetSampleTimeTaskID, ssGetSampleHitPtr)
* odc/sfun_did.c:
- add analytic mdlJacobian
2010-07-15 <rfranke>
* Prg_SFunctionOpt.C:
- bug fix for initialization of active outputs after warm start
2010-05-30 <e_arnold>
* configure, configure.in, hqp/Meschach.h, omu/Omu_Program.h:
- minor changes for gcc 4.4.3, cl 9.0
* hxi/Hxi_SimStruct.C:
- modify for gcc 4.3 (thanks to Benjamin Kern)
2009-11-14 <rfranke>
* Prg_SFunctionOpt.C:
- bug fix for soft constraints avoiding stall during solution
- bug fix for rate-of-change constraints and fixed initial values
2009-04-20 <rfranke>
* Prg_SFunctionOpt.[hC]:
- introduce mdl_x_periodic and mdl_u_periodic
2009-04-19 <rfranke>
* Hqp_MipSolver.[hC], Hqp_LPSolve.[hC],
Hqp_SqpProgram.[hC], Hqp_Init.C, odc/dic_mex_sfunction_int.tcl:
- new integration of mixed integer solver lp_solve
* Hqp_Program.[hC], Hqp_Docp.[hC], Hqp.[hC], Hqp_DocpWrapper.h,
Hqp_DocpStub.[hC], Hqp_Omuses.[hC], Omu_Variables.[hC],
Prg_SFunctionOpt.[hC], hqp_docp/Prg_DID.C:
- add configuration of integer variables
* hqp/hqp_solve.tcl:
- add usage of mixed integer solver
* iftcl/If_Module.h:
- add treatment of module name "None" if no module chosen
* Hqp_SqpProgram.[hC]:
- add norm_inf / prg_norm_inf method
* Hqp_SqpSolver.C, Omu_Integrator.C: reduce default tolerances
- change _eps from 1e-6 to 1e-5, qp->eps from 1e-10 to 1e-9
- change _rtol/_atol from 1e-8 to 1e-7
* configure.in, configure, makedefs.in, makedirs.in, hqp/Makefile:
- add MIP solver
- change version to 1.9.6, development
2008-11-08 <rfranke>
* configure.in, configure:
change version to 1.9.5, add tag release-1-9-5
2008-11-07 <rfranke>
* Omu_IntIMP.C:
rework treatment of fixed step size again (cf. 2007-11-06)
* omu/Omu_Integrator.[hC], omu/Omu_IntIMP.C (solve):
new configuration property prg_int_min_stepsize (default: 0)
determining step size that shall at least be applied
* omu/Prg_SFunctionEst.C (update, continuous):
don't call mdlInitializeConditions for active parameters anymore,
as otherwise states might be initialized from parameters
* omu/Omu_Program.C:
bug fix for determination of problem structure with ADOL-C
2007-11-06 <rfranke>
* omu/Hqp_Omuses.[hC]:
setup Hessian depending on new prg_hela_setup
* omu/Omu_Program.C, omu/Prg_SFunctionOpt.C
setup structure for linear elements
* omu/Omu_Dependents.h, omu/Omu_Deps.[hC]:
new methods set_linear_variable and is_linear_variable
* omu/Omu_Dependents.C (analyze_struct):
bug fix for determination of semi band width for non-square matrices
2007-11-06 <rfranke>
* Omu_IntIMP.C:
rework treatment of fixed step size
* configure.in, configure:
change to development version 1.9.5
2007-03-29 <rfranke>
* configure.in, configure:
change version to 1.9.4, add tag release-1-9-4
2007-01-07 <rfranke>
* omu/Prg_SFunctionOpt.[hC]:
- add soft constraints mdl_yf_soft_min/max for outputs at final time
- add constraints mdl_uf_min/max for inputs at final time
2006-08-15 <rfranke>
* omu/Prg_SFunctionOpt.[hC], omu/Prg_SFunction.[hC]:
add support for time as optimization variable
2006-05-13 <e_arnold>
* hqp/Hqp_IpsMehrotra.[hC]:
re-implementation of Mehrotra's predictor-corrector method
* configure.in, configure, Makefile.hqp:
modify for gcc 4.1.0
2006-02-21 <rfranke>
* meschach/bkpfacto.c (BKPfactor):
bug fix for numerical overflow causing bad memory access
(this bug lead LQDOCP to crash if QP problem degenerates)
2006-02-02 <rfranke>
* configure.in, configure: DEVELOPMENT_VERSION=yes
* hqp/hqp_solve.tcl (hqp_solve):
don't raise error subiters if qp_result is feasible
* hqp/Hqp_SqpProgram.[hC]:
add optimization step s as prg_s to iftcl interface
* omu/Prg_SFunctionOpt.[hC]:
- additionally consider y_ref, u_ref and der_u_ref for
evaluation of first order terms in optimization objective
- add mdl_u0 to read and write model inputs at initial time
- mdl_y0 and mdl_yf to read model outputs at initial and final time
* odc/dic_mex_sfunction.tcl: adapt to integer prg_multistage
2004-11-21 <rfranke>
* configure.in, configure:
change version to 1.9.3, add tag release-1-9-3
* makedirs.in:
add quotes to allow spaces in installation dirs of Tcl and MATLAB
* Makefile, odc/Makefile.in (clean):
- clean up exp and lib files
- clean up atom4te.cache files
2005-08-01 <rfranke>
* omu/Prg_SFunctionOpt.C, omu/Prg_SFunctionEst.C:
- extend _multistage binary flag to integer and provide
re-initialization of states in each stage with _multistage=2
* omu/Prg_SFunction.[hC], omu/Prg_SFunctionOpt.C, omu/Prg_SFunctionEst.C:
- roll back treatment of discrete events to release 1.9.2, but
don't call mdlOutputs in Prg_SFunction::setup_model and
skip call to mdlInitializeSizes if initial time changed
2005-07-25 <rfranke>
* omu/Hqp_DocpStub.[hC], omu/Hqp_Omuses.C:
- don't catch model errors during initial simulation
- move treatment of model errors to Hqp_DocpStub for update_stage
2005-07-20 <rfranke>
* configure.in, configure:
disable ADOL-C per default; require explicit --enable-adolc
* omu/Prg_SFunction.C (setup_model):
simplify and improve processing of discrete events
2005-07-14 <rfranke>
* omu/Prg_SFunctionOpt.C, omu/Prg_SFunctionEst.C (consistic):
simplify and improve processing of discrete events, assuming:
- mdlInitializeConditions is executed only once during setup_model
- initial conditions that include optimized variables
have to be formulated as optimization constraints
2005-07-11 <rfranke>
* odc/Makefile (clean): clean up any shared libs in odc
* omu/Prg_SFunction.C: bug fix for parsing mdl_args
(introduced 2005-06-30)
2005-07-02 <e_arnold>
* Makefile: add install-adolc
2005-06-30 <e_arnold>
* hqp/Hqp_IpLQDOCP.[hC]: revert to previous revision 1.3/1.8
2005-06-30 <rfranke>
* omu/Prg_SFunction.C, hxi/Hxi_SimStruct.[hC], hxi/Hxi_mx_parse.h:
support MEX and Hxi S-functions at the same time
* omu/Prg_SFunction.[hC], omu/Prg_SFunctionOpt.C, omu/Prg_SFunctionEst.[hC],
omu/Omu_Program.[hC], omu/Omu_IntODE.[hC],
odc/Prg_DIC_SFunction.[hC], odc/Prg_DID_SFunction.[hC]:
resolve name clashes with gcc's ctype.h (_X, _U, _S, _P)
* configure.in, configure:
improve autoconf for Tcl under Windows using different compilers
2005-06-29 <rfranke>
* omu/Prg_SFunctionEst.h: bug fix in set_mdl_x0s
(initial states for multiple experiments were wrong with init_simulation)
* hqp/hqp_solve.tcl: raise new error "evaluation" if
prg_f or sqp_norm_inf are infeasible after a model evaluation
2005-06-14 <rfranke>
* hxi/cg_sfun.h, hxi/Hxi_sfun_types.h, hxi/Hxi_SimStruct_methods.h,
hxi/Hxi_SimStruct.h, hxi/Hxi_SimStruct.C:
- treat files required to build an Hxi S-function for a model
outside Hqp solver
2005-05-27 <e_arnold>
* adol-c/hqp_adolc.patch:
modify adolc/adouble.h for gcc 3.4.2
2005-01-19 <rfranke>
* hxi/Hxi_SimStruct.[hC], hxi/Hxi_MEX_SFunction.[hC], Makefile:
- introduce templates to avoid conflicts between Hxi::SimStruct
for double and adouble
- reorder macro definitions
* omu/Prg_SFunction.C:
- fix error check for failed dynamic loading of S-function
2005-01-17 <rfranke>
* hxi/Hxi_MEX_SFunction.[hC], hxi/Hxi_SFunction.[hC], hxi/cg_sfun.h,
hxi/Hxi_SimStruct.h, hxi/Hxi_sfun_types.h, hxi/simstruc.h,
omu/Makefile, omu/Prg_SFunction.h:
- hide implementation details of SimStruct behind C calling interface
* hxi/Hxi_SimStruct_methods.h:
- new file collecting supported SimStruct and mxArray methods
* hxi/Hxi_SimStruct.C:
- new file implementing Hxi::SimStruct and optionally directing
calls to MEX S-function
* hxi/Hxi_mxArray.h:
- remove separate file for Hxi::mxArray
* odc/mex.tcl.in, odc/Prg_DID_SFunction.C, odc/Prg_DIC_SFunction.C,
omu/Prg_SFunction.C:
- adapt to SimStruct changes
* configure.in: rename OMU_WITH_MEX to HXI_WITH_MEX, remove HXI_DEFS
* makedefs.in, Makefile: adapt MEX test to only run for shared build
2005-01-14 <e_arnold>
* adol-c, configure.in, configure, Makefile, makedirs.in,
odc/Makefile.in:
- Remove adol-c/adolc directory tree from CVS. Rebuild from
adolc-1.9.0-PL2.tar.gz during configure.
* hqp/Hqp_IpLQDOCP.[hC]
- replace BKPfactor, BKPsolve by matBKPfactor, matBKPsolve
2005-01-11 <rfranke>
Add support for native external S-functions,
in addition to external MEX S-functions and inlined S-functions
* hxi/Hxi_SimStruct.h, hxi/cg_sfun.h:
- add pointers to S-function methods
- add some ss-macros, in particular for Jacobian
- add entry point Hxi_SimStruct_init
* hxi/Hxi_SFunction.[hC]:
- new calling wrapper for native external S-functions
(cf. Hxi_MEX_SFunction.[hC] for MEX S-functions)
* hxi/Hxi_mxArray.h:
- add support for strings
* hxi/Hxi_sfun_types.h, hxi/simstruc.h:
- change default HXI_REAL_T from adouble to double
* odc/Prg_DIC_SFunction.[hC], odc/Prg_DID_SFunction.[hC]:
- adapt examples inlining S-function code
* odc/sfun_dic.c:
- enable mdlJacobian for all builds
* odc/mex.tcl.in:
- extend with building of native binary S-function