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[WIP] Add FATROP solver support to Moco #3906

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[WIP] Add FATROP solver support to Moco #3906

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@nickbianco nickbianco commented Sep 9, 2024 •
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Fixes issue #3787

Brief summary of changes

Testing I've completed

  • [perf-win]

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CHANGELOG.md (choose one)

  • no need to update because...
  • updated.

Performance analysis

Platform: Windows, self-hosted runner

Test Name lhs [secs] stderr [secs] rhs [secs] stderr [secs] Speedup
Arm26 0.34 0.00 0.33 0.00 1.01
ellipsoid_wrap 4.07 0.00 4.08 0.00 1.00
ellipsoid_wrap_function_based_paths 3.40 0.01 3.42 0.00 1.00
Gait2354 0.40 0.00 0.42 0.00 0.97
MocoSlidingMass 1.40 0.00 2.86 0.00 0.49
MocoSquatToStand 13.22 0.03 55.87 0.70 0.24
passive_dynamic 5.52 0.01 5.45 0.00 1.01
passive_dynamic_noanalysis 3.35 0.00 3.34 0.00 1.00
RajagopalModel 7.89 0.02 7.85 0.00 1.00
ToyDropLanding 12.33 0.01 12.39 0.01 1.00
ToyDropLanding_fbp_stepwisereg 11.02 0.00 11.19 0.01 0.98
ToyDropLanding_function_based_paths 11.24 0.03 11.28 0.02 1.00
ToyDropLanding_nomuscles 0.55 0.00 0.58 0.00 0.95

This change is Reviewable

@nickbianco
Create time variables across the trajectory
439eb31
@nickbianco
Update createTimes()
189caa2
@nickbianco
Time constraints now working
c761f25
@nickbianco
Removing commented out lines for time changes
9be0783
@nickbianco
Start adding support for symbolically interpolated controls
d3c56ff
@nickbianco
Define parameters at all time points
f89e50a
@nickbianco
Testing with current control interpolation
ec111ed
@nickbianco
Treat time variables as parameters
0d3946c
@nickbianco
First basic problem working (!)
9a5a29d
@nickbianco
Remove unneeded code for time and parameter constraints
f47d6bf
@nickbianco
Provide interface for variable ordering in transcription schemes
c5041ab
@nickbianco
Add time and parameter defects to all transcription schemes
e468126
@nickbianco
Fix variable ordering for trapezoidal rule
af3dd35
@nickbianco
Clean up parameter repmatting
f47938f
@nickbianco
Start implementing symbolic control interpolation
b84b58e
@nickbianco
Problem solving with interpolated controls!
d073e49
@nickbianco
Problem is working with controls (!)
f7650cf
@nickbianco
Apply unscaleVariables and calcInterpolatingControls to callback func…
c05a28e 
…tion
@nickbianco
Some cleanup and helpful comments
5b6105d
@nickbianco
Fix mesh interval calculation
edb4919
@nickbianco
Fixing sparsity for CasOCLegendreGaussRadau
4fd291b
@nickbianco
Actually fix sparsity for LegendreGaussRadau
7b4190e
@nickbianco
Start adding support for endpoint constraints in FATROP
f9d4071
@nickbianco
Merge branch 'main' into moco_fatrop_with_bordalba
9a52a22
@nickbianco
Resolve build errors
a9616f4
@nickbianco
Still working on support for endpoint constraints in FATROP
5329b2d
@nickbianco
Making solving kinematic constraints compatible with FATROP
b9601a6
@nickbianco
Add helper to CasOCTranscription for packing states and state derivat…
e02eb3c 
…ives in MXVectors
@nickbianco
Add FATROP support for problems with kinematic constraints; refactor …
9084ddd 
…how kinematic constraints are enforced in MocoCasADiSolver
@nickbianco
Merge branch 'main' into moco_fatrop
232f48a
@nickbianco nickbianco mentioned this pull request Sep 18, 2024
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@nickbianco