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skip to content home features examples download help references using bocop search for: search for windows users martinon 2017/11/22 2017/11/22 two small notes for windows users: bocop 2.1.0 uses an updated mingw version that may cause incompatibilities with previous bocop packages. we advise windows users to uninstall previous bocop/mingw before installing bocop 2.1.0 (renaming the mingw folder should be enough, so that your old c:\mingw does not conflict with the new bocop-2.1.0/mingw). windows package uses a slightly older version of adolc (2.5.2 vs 2.6.3 for linux/mac packages) that may perform worse on some examples, namely bioreactor , leukemia and swimmer . if you encounter troubles running these examples, please switch to cppad by editing line 47 in the file bocop-2.1.0/cmakelists.txt and set the option from off to on. then clean and rebuild the problem before running it again. option(use_cppad “use cppad instead of adol-c/colpack for automatic differentiation” on ) pierre ps. one final little thing: it seems that example fuller is missing its file problem.constants , leading to an error. this will be fixed in the next update, in the meanwhile you can simply copy the problem.constants from example default . several new examples jiliu 2017/11/07 2017/11/09 the examples page was updated, with three new categories: energy systems (microgrid), delay systems (harvest, leukemia) and process law (1d integrator, 2d integrator, mouses & maze: extended edition). these new examples are included in the latest bocop and bocophjb packages. bocop 2.1.0 jiliu 2017/11/06 2017/11/07 bocop 2.1.0 is out! the packages are available in download page. in this version, we provide the latest mingw and cmake(3.10) for windows users (now c++11 compliant). changelog info: 2017/10/17: bocop-2.1.0 – dynamics function now has access to past state and control variables, in order to solve delay problems; pathcond has access to past states. restricted to fixed final time case. new examples: harvest, leukemia. – problem dimensions are now passed to preprocessing function. – functions for heaviside and 2dinterpolation added to publictools – [gui] visualization now show bounds for state variables (optional). – [gui] bugfix for gui unable to locate obervations files in parameter identification problems. see jackson example. – [gui] bugfix for gui sometimes resetting problem discretization to default (midpoint with 100 time steps). – [core] adol-c options for sparse hessian computation have been adjusted and should give better performance in most cases. – [core] time discretizations are now hardcoded (bocopdefinition.cpp) instead of reading .disc files at runtime. bocop executables therefore do not need access to bocop root package anymore at runtime. available methods: euler (explicit), euler (implicit), midpoint (imp.), gauss ii and lobatto iiic. – [core] l2 norm of constraint violation is now correctly saved in .sol file. – [core] some .tpp files were merged with their repective .hpp files. – [core] a few minor memory leaks were fixed. – [thirdparty, linux, mac] update to latest adol-c 2.6.3 and colpack. should give reduced memory usage as well as faster computation of derivatives. – [thirdparty] build process should be faster, quieter and more foolproof. – [thirdparty] experimental: support for cppad instead of adolc/colpack to compute derivatives. enabled with cmake option use_cppad. – [scripts] benchmark scripts were updated. – [windows] updated cmake and mingw to latest versions (now c++11 compliant). bocophjb 1.1.0 for windows jiliu 2017/09/04 2017/09/04 release bocophjb 1.1.0 for windows is available in download page. in this package, we provide a mingw with gcc 6.3 for c++11. bocophjb 1.1.0 jiliu 2017/08/29 2017/08/31 release bocophjb 1.1.0 is out, introducing a new qt gui similar to the one for bocop. besides the user interface, this version also includes several new extensions and examples. a summary of the updates is given in the changelog below, and more information can be found in the user guide and examples catalog . packages for linux and macos are available on the download page, the windows version is in progress. changelog info: 2017/09/01: bocophjb-1.1.0 – [gui] bocophjb now has a qt gui ! gui allows for problem definition (except the c++ code), executable build and run, and visualization. – [core] added specific function for constraints on final state. – [core] for switched systems, added function for possible state jumps at transitions. also added option to restrict the set of admissible transitions (see maze example), defined by file or function. – [core] optional computation of state probability distribution (see maze example). distribution is an output only, cannot be used in functions. probability of state transitions and mode switchings are also recorded. – [core] input file .def was reorganized and expanded, all blocks must be present in the correct order. control discretization options were revamped. state discretization is now in .def file instead of statedisc/ folder. starting point/mode for simulated trajectory is also in .def file instead of the c/c++ file simulation.cpp, which is removed. parameter timestep.output.frequency is now hardcoded to 10%. – [core] new checks for cost functions when building in debug mode. – [core] some new info added in output file simulatedtrajectory.data; matlab reading script was updated accordingly. – [core] new optional functions: preprocessing.cpp, postprocessing.cpp, and dependencies.hpp/cpp. dummy files are used if not present in problem folder. function preprocessing can modify the starting point (initial conditions) as well as the number of modes (if they depend on some problem constants). – [core] added checks for initial point in the interior of the state grid, as well as for the starting mode of the trajectory simulation. – [core] splitted io functions in separate source files (core/sources/io). – [core] improved handling of infeasible case during trajectory simulation. – [core] added recomputation of the objective during trajectory simulation, with separate terms for the running, final and switching cost. – [core] minor changes to value function and simulated trajectory log files. – [core] improved control discretization info in log files. – [core] several internal improvements (hjb constructor) bocop 2.0.5 for mac martinon 2017/02/20 2017/05/19 bocop 2.0.5 for mac is available in download page. the package has been tested on macos el capitan and sierra. don’t forget to install the proper version of gfortran for your os. bocop 2.0.5 for windows martinon 2017/02/13 2017/05/09 hi, everyone. the windows version has been updated on the download page. you can also check this install tutorial on our new youtube channel: https://www.youtube.com/watch?v=eettxm_djss this video shows how to install bocop 2.0.5 on windows, then test the install with the default example (goddard problem). bocop 2.0.5 martinon 2017/02/10 2017/05/09 release well, it took a bit longer than expected, but bocop 2.0.5 is out ! more precisely the linux version comes first, windows and mac will follow. note: when installing a new version of bocop, the gui will retain the settings from the previous version, such as the current problem loaded at startup. it will also point to the previous core package location, which may cause a version number warning. just select the path to the new install when prompted. this message will occur only once. changelog info: 2017/02/06: bocop-2.0.5 – package: improved windows installer will automatically offer to install cmake and mingw. it should also not require path edits or reboots anymore (the latter may depend on windows version). – package: link to gui added to desktop. – package: root directory for bocop package should now be properly set up after install. – io: float precision for .sol file set to 15 instead of 20 to avoid spurious digits. – gui: added red lines for bounds for state, control and alg
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