Opengen v0.10.0

[alphaville]

What's Changed

Added

• New high-level opengen.ocp package for constructing optimal control problems from dynamics, stage/terminal costs, named parameters, and OCP-oriented constraints
• Support for both single-shooting and multiple-shooting formulations, including penalty- and ALM-based constraint lowering
• GeneratedOptimizer wrapper with solve(x0=..., xref=...) API and persistent optimizer metadata via optimizer_manifest.json plus rollout.casadi
• Continuous-time dynamics discretization helpers in opengen.ocp.DynamicsDiscretizer, including Euler, midpoint, Heun, RK4, and multistep discretizations
• Extended OcpSolution with solver diagnostics such as cost, penalty, iteration counts, infeasibility, fixed-point residual, and Lagrange multipliers
• Detailed documentation available here, incl. Google Colab notebooks, and updated API docs

Changed

• Changed the default penalty weight update factor to 1.75
• Added and refined OCP documentation, docstrings, notebook examples, and automated tests
• Improved readability of printed OCP solver results

Fixed

• Avoid duplicate builder log messages by disabling propagation to the root logger
• Use reliable package version lookup when recording the installed CasADi version in optimizer manifests
• Check valid version in with_version

Full Changelog: opengen-0.9.6...opengen-0.10.0

---

This discussion was created from the release Opengen v0.10.0.