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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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Commits on Jul 26, 2024

  1. Create time variables across the trajectory

    @nickbianco
    nickbianco committed Jul 26, 2024
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Commits on Jul 29, 2024

  1. Update createTimes()

    @nickbianco
    nickbianco committed Jul 29, 2024
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  2. Time constraints now working

    @nickbianco
    nickbianco committed Jul 29, 2024
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  3. Removing commented out lines for time changes

    @nickbianco
    nickbianco committed Jul 29, 2024
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Commits on Aug 2, 2024

  1. Start adding support for symbolically interpolated controls

    @nickbianco
    nickbianco committed Aug 2, 2024
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Commits on Aug 6, 2024

  1. Define parameters at all time points

    @nickbianco
    nickbianco committed Aug 6, 2024
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  2. Testing with current control interpolation

    @nickbianco
    nickbianco committed Aug 6, 2024
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Commits on Aug 7, 2024

  1. Treat time variables as parameters

    @nickbianco
    nickbianco committed Aug 7, 2024
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  2. First basic problem working (!)

    @nickbianco
    nickbianco committed Aug 7, 2024
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  3. Remove unneeded code for time and parameter constraints

    @nickbianco
    nickbianco committed Aug 7, 2024
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Commits on Aug 9, 2024

  1. Provide interface for variable ordering in transcription schemes

    @nickbianco
    nickbianco committed Aug 9, 2024
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  2. Add time and parameter defects to all transcription schemes

    @nickbianco
    nickbianco committed Aug 9, 2024
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  3. Fix variable ordering for trapezoidal rule

    @nickbianco
    nickbianco committed Aug 9, 2024
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  4. Clean up parameter repmatting

    @nickbianco
    nickbianco committed Aug 9, 2024
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Commits on Aug 12, 2024

  1. Start implementing symbolic control interpolation

    @nickbianco
    nickbianco committed Aug 12, 2024
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  2. Problem solving with interpolated controls!

    @nickbianco
    nickbianco committed Aug 12, 2024
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Commits on Aug 14, 2024

  1. Problem is working with controls (!)

    @nickbianco
    nickbianco committed Aug 14, 2024
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  2. Apply unscaleVariables and calcInterpolatingControls to callback func… 

    …tion
    @nickbianco
    nickbianco committed Aug 14, 2024
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Commits on Aug 15, 2024

  1. Some cleanup and helpful comments

    @nickbianco
    nickbianco committed Aug 15, 2024
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  2. Fix mesh interval calculation

    @nickbianco
    nickbianco committed Aug 15, 2024
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  3. Fixing sparsity for CasOCLegendreGaussRadau

    @nickbianco
    nickbianco committed Aug 15, 2024
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Commits on Aug 16, 2024

  1. Actually fix sparsity for LegendreGaussRadau

    @nickbianco
    nickbianco committed Aug 16, 2024
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Commits on Aug 19, 2024

  1. Start adding support for endpoint constraints in FATROP

    @nickbianco
    nickbianco committed Aug 19, 2024
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Commits on Aug 26, 2024

  1. Merge branch 'main' into moco_fatrop_with_bordalba

    @nickbianco
    nickbianco committed Aug 26, 2024
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  2. Resolve build errors

    @nickbianco
    nickbianco committed Aug 26, 2024
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Commits on Aug 29, 2024

  1. Still working on support for endpoint constraints in FATROP

    @nickbianco
    nickbianco committed Aug 29, 2024
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Commits on Sep 6, 2024

  1. Making solving kinematic constraints compatible with FATROP

    @nickbianco
    nickbianco committed Sep 6, 2024
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Commits on Sep 9, 2024

  1. Add helper to CasOCTranscription for packing states and state derivat… 

    …ives in MXVectors
    @nickbianco
    nickbianco committed Sep 9, 2024
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Commits on Sep 11, 2024

  1. Add FATROP support for problems with kinematic constraints; refactor … 

    …how kinematic constraints are enforced in MocoCasADiSolver
    @nickbianco
    nickbianco committed Sep 11, 2024
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  2. Merge branch 'main' into moco_fatrop

    @nickbianco
    nickbianco committed Sep 11, 2024
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  3. Revert exampleSlidingMass

    @nickbianco
    nickbianco committed Sep 11, 2024
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  4. Remove control interpolation and midpoint path constraint options in … 

    …MocoCasADiSolver; lots of fixes to tests
    @nickbianco
    nickbianco committed Sep 11, 2024
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Commits on Sep 12, 2024

  1. Fixing more tests

    @nickbianco
    nickbianco committed Sep 12, 2024
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  2. Fixes for testMocoGoals, testMocoActuators, and testMocoImplicit

    @nickbianco
    nickbianco committed Sep 12, 2024
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  3. Use initial and final indices for endpoint function calls in CasOCTra… 

    …nscription
    @nickbianco
    nickbianco committed Sep 12, 2024
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Commits on Sep 13, 2024

  1. Fix last set of failing tests

    @nickbianco
    nickbianco committed Sep 13, 2024
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  2. Add CMake build flag for FATROP

    @nickbianco
    nickbianco committed Sep 13, 2024
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  3. Silence stdext::checked_array_iterator warnings

    @nickbianco
    nickbianco committed Sep 13, 2024
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  4. Remove control interpolation option from MocoCasADiSolver

    @nickbianco
    nickbianco committed Sep 13, 2024
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Commits on Sep 17, 2024

  1. Add FATROP tests

    @nickbianco
    nickbianco committed Sep 17, 2024
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  2. Merge branch 'silence_checked_array_iterator_warning' into moco_fatrop

    @nickbianco
    nickbianco committed Sep 17, 2024
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