What's Changed

• docs: update Python requirement by @FreyJo in #997
• Matlab: LD_RUN_PATH, add getters, fix examples, remove outdated files by @FreyJo in #996
• Separate nonlinear constraints into path and initial stage constraints by @FreyJo in #994
• Some interface refactoring by @FreyJo in #998
• Fix solver template, simplify external function generation, formatting by @FreyJo in #1000
• Fix bugs with slack dimensions Python interface by @FreyJo in #1001
• Matlab: allow to create Simulink block from integrator by @FreyJo in #1003
• Add support for multi phase OCP in Python by @FreyJo in #1004
• Fix acados_timer issue by removing MEASURE_TIMINGS flag by @FreyJo in #1005
• Python 3.7 compatibility by @FreyJo in #1006
• Fix nonlinear_chain_example, removing nm6 by @FreyJo in #1008
• CodeQL: dont complain about commented code by @FreyJo in #1010
• Consistent integrator timings by @FreyJo in #1011
• extend AcadosMultiphaseOcp by @FreyJo in #1007
• Add a linear MPC example in MATLAB by @josipkh in #1012
• Documentation: fixes and updates by @FreyJo in #1013
• Fix regularization example and build with CMake by @FreyJo in #1015
• Update documentation, fix some typos by @josipkh in #1016
• Minor fixes by @FreyJo in #1018
• Update HPIPM by @FreyJo in #1020
• Update penalty utilities by @FreyJo in #1021
• Fix multiphase nonlinear constraints by @FreyJo in #1023
• Matlab fixes by @FreyJo in #1026
• Matlab examples: make calling functions more explicit by @FreyJo in #1027
• Implement fixed_hess option to not recompute the Hessian if it is constant by @FreyJo in #1028
• AcadosOcpSolver: make ocp consistent if generate==False by @FreyJo in #1030
• Update osqp by @FranekStark in #1033

Breaking:

• Matlab & Python: nonlinear constraints h and phi(r) are by default only enforced at nodes 1 to N. Such constraints can still be enforced at node 0 by setting the appropriate new fields, #994

New Contributors

• @josipkh made their first contribution in #1012
• @FranekStark made their first contribution in #1033

Full Changelog: v0.2.6...v0.3.0