The original Radau transcription can be accessed as RadauDeprecated, but will remain until the new one is thoroughly vetted.
RadauNew removes the need for the StateIndependentsComp which used a complicated hybrid IVC/implicit/explicit component implementation. RadauNew uses the same structure as the Birkhoff transcription, where initial and final values of states in the phase are double-specified...once in the array of state values, and once as initial_states:{name} or final_states:{name}. This provides a better source/target when linking phases together.
An important restriction of the new radau implementation is that it no longer supports compressed transcription. Continuity constraints are implemented between segments for state and control values.
The original Radau transcription can be accessed as RadauDeprecated, but will remain until the new one is thoroughly vetted.
RadauNew removes the need for the StateIndependentsComp which used a complicated hybrid IVC/implicit/explicit component implementation. RadauNew uses the same structure as the Birkhoff transcription, where initial and final values of states in the phase are double-specified...once in the array of state values, and once as initial_states:{name} or final_states:{name}. This provides a better source/target when linking phases together.
An important restriction of the new radau implementation is that it no longer supports compressed transcription. Continuity constraints are implemented between segments for state and control values.
Summary
Summary of PR.
Related Issues
Backwards incompatibilities
None
New Dependencies
None