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Enabeling opty to estimate input time shifts. #294

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Enabeling opty to estimate input time shifts. #294

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16cc611
Add function to find and substitute timeshifted trajectories in the EOMs
Dec 30, 2024
89b7db3
Substitute trajectories with timeshift, add timeshift instance constr…
Dec 31, 2024
b52a96f
Generate timeshift constraints and include them in the constraint fun…
Jan 2, 2025
1e9a710
msubs instead of subs and turn free index map into a property
Jan 2, 2025
11ab07d
correction: unshifted trajectory is a known trajectory
Jan 2, 2025
6f79482
Verify that timeshift trajectories are given correctly. Precalculate …
Jan 3, 2025
1404d9e
Merge branch 'csu-hmc:master' into input-time-shifts
chris-konrad Jan 3, 2025
3afd434
Add timeshift partials to the constraint jacobian index function
Jan 4, 2025
e58352b
Merge branch 'input-time-shifts' of github.com:chris-konrad/opty into…
Jan 4, 2025
2c61e89
Fix shape missmatch resulting from replacing DeferredVector with Matr…
Jan 5, 2025
a47a6bc
Prevent mistaking nested functions and elementary functions for times…
Jan 5, 2025
11ffdc0
Add timeshift trajectory substitution unittest and fix list/np.array …
Jan 5, 2025
9a3ac64
correct order of jacobian values
Jan 6, 2025
6aab18f
fix type error
Jan 6, 2025
bb3bf41
Do not include tau in the unknown_parameters-lists. Instead keep trac…
Jan 6, 2025
1634adf
prevent known timeshift inputs to be included in the list of discreti…
Jan 6, 2025
6d897c4
prevent known input trajectories to end up in the constraint functions
Jan 6, 2025
5d1269f
Copy and modify some previous tests for the timeshift scenario
Jan 6, 2025
c9ef0be
Prevent the known unshifted input trajectory values to end up in the …
Jan 7, 2025
d2026ff
Ensure that jacobian indices correspond to jacobian values for timesh…
Jan 7, 2025
6a41bc5
skip eom jacobian test, add full jacobian test
Jan 7, 2025
e29d5db
specify integration method and remove copy/past leftovers
Jan 7, 2025
e1f8dee
Add num_instance_constraints to constraints and ensure that squeeze s…
Jan 7, 2025
91d2cba
Enable defining bounds for timeshift parameters
Jan 7, 2025
6dadf39
Given timeshift input trajectory originals must contain values coveri…
Jan 7, 2025
d759914
Bugfix: move squeeze to the right location
Jan 7, 2025
00406c2
fix sign error in derivative calculation and enable plot_constraint_v…
Jan 8, 2025
3684a0e
Old changes
chris-konrad Dec 1, 2025
5030550
More old changes
chris-konrad Dec 1, 2025
dcda625
Add tests
chris-konrad Dec 1, 2025
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1 change: 1 addition & 0 deletions opty-dev-env.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@ name: opty-dev
channels:
- conda-forge
dependencies:
- python <= 3.12
- coverage
- cyipopt >=1.1.0
- cython >=0.29.19
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