Added new 2d actuated slip example with working complimentarity constraints to enforce hybrid dynamics. Currently can get one optimal stride out.


Former-commit-id: cbd653eaa1714e3da28e5fa7455a3aca42454e7e
Got 2d actuated SLIP model with damper working with SNOPT.


Former-commit-id: 320ada6099ff16675dcfa60beb83f7241fd9a832
Now ignore auto generated function from commits.


Former-commit-id: 88efe4da2b2b04c08cd4d0a03826804b230567c6
Deleting auto generated functions.


Former-commit-id: 7dc8fa0389c2712ab95a567120dd024033391b01
Got first working multiple hop in 2d with damper and SNOPT minimizing cost of transport.


Former-commit-id: 893b3fcd468064faa40a5af0722fa88ab9085310
Cleaned up SLIP model problems and switched them over to SNOPT as primary optimzer. Found solutions for each case.


Former-commit-id: d466f69e6a8da8d99b3759e625cb6780d398e02b
Complete overall losing backwards compatibility. New sparse gradient function signficantly increases build speed and allows for quicker export of sparse functions. Most error checking was commented out in the switch over.


Former-commit-id: 21013bcfd356f91856580fbd62a4731d10416ecf
Cleaning up code and speeding up snopt export function. Removed last error check in addObjective.


Former-commit-id: e6e2ae1d882770b9fdd3e6790fa87bd5d3a0d55a
Converted all exmaples over to new formulation. Fixed bugs with addConstraint and fullJacobian which caused indexes to transpose breaking things down the line. Started fixing old methods broke in transistion. Updated addDynamics.


Former-commit-id: 9de12cd6849e70e05e8143158b81f7fe9fcca358
Finally settled on decent package name. Clean up package and fixed all functionality that was broke in transition to sparse symbolics. Only thing left to convert is fmincon interface.


Former-commit-id: afd2ccaf3b82b82cbec5e5a2af27e21353c8973f
Improved snopt write function speed by switching from looped char conversion to one pass string manipulation.


Former-commit-id: 080599db050c5c07dc1b98cd6cdcbd46d6715bea
New plot sparsity function to visualize jacobian. Minor tweaks and cleaning. Started switching sym vectors to rows for faster computation and started adding built in integral for objective function to take advantage of sparsity.


Former-commit-id: ab38b6c3c2023dd596f3e65cce3d8283ca0de094
Fixed fmincon interface and cleaned up snopt interface.


Former-commit-id: 7a2ebf466c47d2a52b1c1f75655343da579eb01f
Moved away from variable and parameter sets. Implemented auto constraint processing to determine if the sparse or full jacobian needs to be taken.


Former-commit-id: 8232cbd94bc4ccc422340235335253987e74bd9d
Added plotVariable method to quickly generate plots from solution vectors. Added logic to separate out linear and nonlinear objective and constraint gradient terms. snJac no longer is required as indexing is generated when constraints are processed. Sparse jacobians now export vectorized equations to file. Snopt export no only writes nonlinear and nonzero values, indexing is fed into snopt directly before solve eliminating sparse matrix generation in exported file. plotSparsity now shows linear and nonlinear terms with different colors.


Former-commit-id: 03fd98acac8fe08e2005a5379e5e80eb11d8cd64
Quick and dirty initial value randomizer method created to help see how problems converge.


Former-commit-id: aaa88c872587818cecfef55ac8b80f1be4428eea
Updated display methods to provide more information in a readable form.


Former-commit-id: e78bbf93942832942863be5f24b6bbe5e78207b3
Switch time struct to an object to allow easier computation of the solution vector.


Former-commit-id: ef49575ee513897e4db4299bf7fa11fc141e2323
Organize solver class into folder.


Former-commit-id: c7cd75aaae9d8ff660823c468a7ee57ab2e00535
Renaming og methods, and cleaning code.


Former-commit-id: 5e8252572e16bc1459a9248e9dd09ebf98f606e9