Temporary Commit Page

See commit message for fixes, changes, and new features. Thanks!

Fixes

• Fixed bug when DTQP_plotCommon.m when controls are plotted without an alternative (optimal) solution
• Fixed bugs in DTQP_SQP_lagrangianPenaltyMatrix.m

Changes

• Renamed /src/qlin/ to /src/nonlin/ (similar change to some other functions that are for all NLDO methods)
• Changed DTQP_qlin_taylor.m to DTQP_qlin_symb.m
• Changed DTQP_createH.m and DTQP_createf.m to return the appropriately sized empty matrices (rather than [])
• Improvements to DTQP_defects_TR.m and DTQP_defects_PS.m (need to make similar changes to other defect constraint functions)
• Changed method for checking for empty matrices in DTQP_reorder.m, DTQP_scalingLinear.m, and DTQP_scalingRows.m to be faster

Features

• Added a method for solving nonlinear dynamic optimization problems which uses the interior point algorithm in fmincon (called ipfmincon, more details to come)
  • Not all NLDO problem elements supported at this time
  • Only (TR,PS) defect and (CTR,G) quadrature methods available
  • Optional field setup.p.guess that can define the initial guess for the NLDO problem
• Added optional field setup.n to specify the number of controls, states, and parameters (required in NLDO problems)
• Added test function DTQP_TEST_manyNLDOExamples.m which runs many of the NLDO examples using ipfmincon and qlin methods