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brocksam / pycollo

General-purpose optimal control, trajectory optimisation and parameter optimisation using direct collocation
https://brocksam.github.io/pycollo/
MIT License
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Expression graph #18

Closed brocksam closed 4 years ago

brocksam commented 4 years ago

Performance improvements including:

  1. Now using dedicated Pycollo operations in to take derivatives of expression graph nodes;
  2. Now using Pycollo sparse matrices during hSAD; and
  3. Bug fixes in the Jacobian sparsity pattern.