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NEWS.md

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New in v0.2

Flattened API

  • The new API now only exports the ALTROSolver type, no longer exporting AugmentedLagrangianSolver, iLQRSolver, and ProjectedNewtonSolver.
  • Use the projected_newton solver option to turn off to get the same behavior as AugmentedLagrangianSolver. Passing an unconstrained problem is equivalent to solving with iLQRSolver.
  • Solver options are now shared between all solvers, and implemented as SolverOptions. Use solver.opts or set_options!(solver; opts...) to change solver options. Solver options can also be passed into the solver constructor.
  • Solver stats have also been improved, and contains a single log for all iteration types. Accessible via solver.stats or Altro.stats(solver).

Improved Verbosity Output

  • iLQR iterations now provide a brief description for why they terminate.
  • The show_summary option can be used to display a brief summary of the solve upon completion.

Solver status and convergence

  • Each solve now saves a solver status in solver.stats.status, accessible via status(solver), which provides some information about how the solver exited.
  • Runtime errors in Altro.jl were removed in favor of exiting the solver with a specific solver status. Runtime errors are still possible if they originate from TrajetoryOptimization.jl or bugs (nothing is wrapped in try/catch loops).
  • Changed convergence criteria for the iLQR solver: it must satisfy both the change in cost tolerance and the gradient tolerance at the same time.
  • The ProjectedNewtonSolver now does a projection of the dual variables in order to accurately calculation the residual of dual optimality (gradient of the Lagrangian). Can be disabled via the multiplier_projection option.