SeeOfChanges

"Over the see, no one can see" - No name (actually no one... but who cares!)
When one looks at the horizon, they can't see past a certain point. Too far is the horizon, too much water separate them to the new world ahead. When they are sailing that see, the same can be said for the land behind. They must forgot where they are from, to focus on where they are going.

Bioptim is a sailor, no one can remember what happened between that release and the previous one. Bioptim has so evolved, it cannot see over its own see of changes

What's Changed

• Readme update and trapezoidal integration of cost function by @Ipuch in #458
• Semi-explicit and rigid contacts by @Ipuch in #426
• Time vector returned by integrate by @EveCharbie in #453
• print bounds of controls and states by @AurelienRenou in #461
• fixing an error because of merge by @Ipuch in #463
• Playing with qddot by @Ipuch in #466
• small fix manage unit target by @Ipuch in #467
• merge master into crazydynamics by @Ipuch in #464
• minimize comddot without qddot as variable by @Ipuch in #469
• Multinode Constraint Plot by @Ipuch in #470
• COM AND COM VELOCITY multinode constraints by @Ipuch in #472
• changed len to shape by @EveCharbie in #473
• Terminology PR by @Ipuch in #465
• merge master into crazy dynamics by @Ipuch in #474
• if we have radau and inverse dynamics constraints in collocation by @Ipuch in #448
• tested examples by @Sciancisco in #475
• fixed examples by @thasaarah in #476
• Muscle implicit dynamics by @aceglia in #459
• more info in detailed_cost by @Ipuch in #482
• States without intermediate states in case of collocation by @Ipuch in #484
• [RTR] changed the example to match symmetry_by_mapping/constraint by @EveCharbie in #481
• [RTM] Free floating dynamics by @Sciancisco in #488
• [RTM] random_initial_condition_example by @EveCharbie in #486
• [RTM] graphs uneven number of variables by @EveCharbie in #483
• track qddot as constraint by @Ipuch in #497
• defecttype on other ode solvers by @Ipuch in #498
• [RTM?] Detailed cost dimension bug for markers target by @EveCharbie in #495
• [RTM] qddot as statedot by @Ipuch in #505
• [RTM] animated tracked markers by @thasaarah in #500
• [RTM] Pull master in crazydynamics by @Ipuch in #490
• [RTR] Change pendulum acados example for more realistic results by @aceglia in #508
• [RTM] NoisedInitialGuess properly scale within bounds by @Ipuch in #506
• [RTM] Mayer on first node with acados by @aceglia in #501
• [RTM] Change solver option set and turn back to the initial set convergence. by @aceglia in #502
• [RTR] Shape bug when the index list contains only one index by @EveCharbie in #511
• Better fcn enum by @Sciancisco in #512
• [RTR] master merged into CrazyDynamics to mare sure everything fits by @Ipuch in #514
• [RTR] implicit defect works in torque driven. by @Ipuch in #515
• merging FcnEnum by @Ipuch in #518
• Crazy dynamics by @pariterre in #519
• scoot some documentation by @Ipuch in #522
• docstring by @Ipuch in #525
• [RTM] collocation initial guess by @thasaarah in #504
• [RTM] continuity constraints are well displayed by @Ipuch in #513
• [RTR] States_no_intermediate handles a merged solution. by @Ipuch in #520
• [RTR] Names of variables in figures handles variable mapping by @Ipuch in #524
• [RTM] Check black earlier in the build to save some time by @Sciancisco in #526
• [RTM] Continuity objective take2 by @Sciancisco in #516
• [RTR] scoot docstrings by @Ipuch in #529
• [RTR] initial guess with interpolationType.EACHFRAME by @Ipuch in #531
• scoot docstrings in optimization_variable.py by @rapidnico in #532
• [RTR] readme update (do not use .bo) by @EveCharbie in #535
• Made the error message even better! by @pariterre in #539
• [RTR] MinimizeQDDOT by @Ipuch in #528
• [RTR] Refactor Integration by @Ipuch in #534
• [RTR] check if code is blacked independantly in github actions by @Ipuch in #530
• [WIP] Update Acados to the last release (v0.1.8) by @aceglia in #509

New Contributors

• @AurelienRenou made their first contribution in #461
• @Sciancisco made their first contribution in #475
• @thasaarah made their first contribution in #476
• @rapidnico made their first contribution in #532

Full Changelog: Release_2.2.2...Release_2.3.0