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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
8 stars 3 forks source link

Utilise sparsity in Jacobian calculation #5

Closed brocksam closed 5 years ago

brocksam commented 5 years ago

Defect constraint matrices refactored to scipy sparse matrices. Large performance increase with runtimes significantly reduced, especially for problems with large numbers of mesh sections. Performance improvements both in new mesh generation and in IPOPT functions.