v0.7.3

LinearMPC v0.7.3

Diff since v0.7.0

Merged pull requests:

• Account for uncertainty in the current state (#31) (@darnstrom)
• Add constant offset in dynamics (#32) (@darnstrom)
• Add option for first-order hold move blocking (#33) (@darnstrom)
• Add true_dynamics in Model (#34) (@darnstrom)
• Improve support for setting/changing operating points (#35) (@darnstrom)
• Add binary control horizon (#38) (@darnstrom)
• add support for time-varying linear input cost trajectory (#39) (@baggepinnen)
• add instructions on how to change solver settings (#40) (@baggepinnen)
• Improve type stability and reduce allocations (#41) (@baggepinnen)
• Add MPQP struct (#43) (@darnstrom)
• Fix warm start in generated code (#44) (@darnstrom)
• Correctly handle move blocking when there are no bounds on controls (#51) (@darnstrom)
• Avoid terminal constraints from being ignored (#52) (@darnstrom)
• Correctly get # of simple bounds (#53) (@darnstrom)
• Split controlled outputs y and measurements ym (#54) (@darnstrom)

Closed issues:

• Handling of uprev when using delta_u penalty (#14)
• "Integer horizon" (#37)
• Cannot simulate MPCs with state observers when not all controlled ouputs are measured (#45)
• add_constraint! does not work if ks contains 0 (#47)
• add_constraint! does not work if ks contains a 0 (#48)
• Cannot simulate with move blocking. (#50)