Dymos 1.4.0

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Release Notes for Dymos 1.4.0

January 05, 2022

This is version 1.4.0 of Dymos.
It includes a fix for grid refinement and simulation with parameters, some minor performance improvements, and various documentation updates.

Enhancements

• Disabled check_partials of Dymos core components by default. #686
• Added performance improvements for PseudospectralTimeseriesOutputComp. #688
• Added a warning if bounds are applied to a state during solve_segments. #691
• Expanded the included 1976 standard atmosphere model to cover -15000 ft to 250000 ft and doc cleanup. #699
• Added the Bryson-Denham example problem and other various documentation improvements. #700 #702 #704
• Changed deprecated 'value' metadata usages to 'val'. #706

Bug Fixes

• Fixed a bug that could result in incorrect parameter values in simulation. #684
• Fixed example that doesn't work in google collab. #690
• Fixed a bug in grid refinement error estimation for state rates not from ODE. #703

Miscellaneous

• Added [notebooks] spec when installing with pip. #695
• Added CI matrix entry for testing without pyoptsparse. #697

Dymos 1.3.0

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Release Notes for Dymos 1.3.0

November 19, 2021

This is version 1.3.0 of Dymos.

This release of Dymos introduces an ExplicitShooting transcription that provides an explicit Runge-Kutta integration of the ODE across a phase. This transcription is currently limited to fixed-step RK methods (RK4 being the default). Timeseries outputs are provided at the start/end of each segment in the phase. This is similar to the solve-segments capability in the collocation transcriptions, but fixed-step will provide an answer (albeit inaccurate) across the integration rather than failing to converge if the dynamics become highly nonlinear.

Enhancements

• Added path constraints to the explicit shooting transcription. #659
• Added control continuity enforcement to ExplicitShooting transcription, and refactored continuity components in general. #660
• Added indication of fixed variables to linkage report. #662
• Replaced the tensordot in the compute method of timeseries_output_comp with a regular dot product to remove a performance bottleneck. #665
• Added constraint report to summarize boundary and path constraints for each phase of a trajectory. #666
• Added ExplicitShooting to transcriptions #669
• Significantly improved speed of ExplicitShooting #670
• Added Radau, BDF and LSODA as options for scipy's integration method when using simulate #675

Bug Fixes

• Removed solver for connected linkages. Its only needed for solve_segments. #668
• Changed default value of units in Trajectory.add_parameter to _unspecified. #673
• Added fix to allow parameters with static_targets=True to work with ExplicitShooting #679
• Fixed formatting in the constraint report #680

Miscellaneous

• None

Dymos 1.2.0

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Release Notes for Dymos 1.2.0

October 12, 2021

This is version 1.2.0 of Dymos.

The release provides compatibility with OpenMDAO >=3.13.0 and adds
some performance improvements.

While we are beginning to bring a true explicit shooting capability
to Dymos, those capabilities are not fully filled out as of this release.

Backwards Incompatible API Changes & Deprecations

• Dymos 1.2.0 requires OpenMDAO >= 3.13.0, due to changes in the way indices are specified in OpenMDAO.

Enhancements

• Update run_problem.py to return success state #634
• Added an experimental explicit shooting transcription to dymos #637
• Added control rates and their derivatives when using ExplicitShooting. #645
• Rewrite of the USatm1976Comp to use pre-computed akima coefficients for interpolation. It is now complex-safe and considerably faster. #652
• Allow addition of ODE outputs to ExplicitShooting timeseries #654

Bug Fixes

• Fixed an issue where simulation was not working when running under MPI in run_problem #628
• Added a better error message when simulate fails due to the inability to find a good step size. #630
• Fixes a bug where t_initial_targets and t_duration_targets would not work if input_initial or input_duration were True, respectively. #656
• Fix to eliminate warning messages related to the recent indexing update to OpenMDAO. [Requires OpenMDAO >= 3.12.0] #636
• Removed exceptions introduced in OpenMDAO PR #2279. #653

Miscellaneous

• Fixed issue in executable notebooks. #631
• Updated CI matrix to test against latest release and development versions of OpenMDAO. #638

Dymos 1.1.0

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Release Notes for Dymos 1.1.0

July 22, 2021

This is version 1.1.0 of Dymos.
The release provides compatibility with OpenMDAO >=3.10.0, updates the
documentation to JupyterBook, and adds a few new features.

Backwards Incompatible API Changes & Deprecations

• Removed vectorize_derivs option from phase objectives due to OpenMDAO update. #605
• The dynamic argument on add_parameter has been removed. A new argument static_target has been added which has opposite meaning of dynamic. #591
• Updated phase.interpolate to automatically detect variable type, renamed to phase.interp. Old version is deprecated. #592

Enhancements

• Documentation updated to JupyterBook. #611 #613 #614 #615 #616 #618
• simulate_options are now stored within each Phase. #610
• Removed vectorize_derivs option from phase objectives due to OpenMDAO update. #605
• Updated dymos to handle the new OpenMDAO distributed I/O approach #597
• The dynamic argument on add_parameter has been removed. A new argument static_target has been added which has opposite meaning of dynamic. #591
• Updated phase.interpolate to automatically detect variable type, renamed to phase.interp. Old version is deprecated. #592

Bug Fixes

• Fixed an issue with units in linkage constraints. #620
• Fix for key error when performing order reduction under hp adaptive refinement. #590
• Parameters in the ODE system now respect both dynamic=True and False. #581

Miscellaneous

• Added missing example Brachistochrone with upstream initial and duration states. #623
• Added require_pyoptsparse to all tests that use pyOptSparseDriver #624
• Added a couple of fixes to examples docs #622
• Fixed some typos in 'Getting Started' section of the docs #621
• Install coveralls from pypi in github workflow #601
• Change base_dir arg to coveralls #600
• Fixed minor typos in docs. #599
• Removed require_pyoptsparse and moved it to OpenMDAO. #595
• Added publishing mkdocs to gh-pages. #594
• Added github actions workflow for CI. #589
• Readme updated to point to JOSS paper. #578
• Updated JOSS bibliography. #573 #574 #576 #577
• Fixed some references in JOSS paper. #572
• Minor grammar and consistency edits for JOSS paper. #571

Dymos 1.0.0

Release Notes for Dymos 1.0.0

March 25, 2021

This is version 1.0.0 of Dymos.
This release primarily removes some deprecated experimental features, along with implementing a few bug fixes.

Backwards Incompatible API Changes & Deprecations

• The RungeKutta Transcription is removed. #550
• Two-character location specifiers ('++', '--', '+-', '-+') are removed in favor of 'initial' and 'final' #556
• User must now specify solve_segments='forward' or solve_segments='backward' when using solve_segments capability (True is no longer valid). #557
• add_input_parameter and add_design_parameter dropped in favor of add_parameter. #558 #561
• Removed the deprecated command line interface due to it being a somewhat hackish abuse of OpenMDAO's hooks. #563
• Removed the deprecated 'disc' node subset in favor of the more correct 'state_disc' #565
• Removed the deprecated 'custom_targets' option for parameters.' #565

Enhancements

• User will now be warned when multiple timeseries outputs were attempted with the same name. #567

Bug Fixes

• The ode_class option of phase is now marked non-recordable. #555
• Fixed doc building due to a change in OpenMDAO. #564

Miscellaneous

• Modified examples to use the preferred fix_initial=True for time and states instead of "pinched bounds", e.g. initial_bounds=(0, 0). #560

Dymos 0.18.1

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Release Notes for Dymos 0.18.1

February 18, 2021

This release of Dymos adds several examples demonstrating various capabilities of the code.
Per user request, the ODE of a system can now be provided via a callable function that
takes num_nodes and any other potential initialization keywod arguments.
This allows OpenMDAO's ExecComp to be used as an ODE if wrapped in a lambda, for instance.

Some bugs were fixed as part of introducing these examples. For instance, default values for
states and times were being ignored - this is now fixed. In addition, Trajectory parameters
are now saved to the simulation database file.

This is expected to be the final release of Dymos before v1.0.0, when several existing
deprecated features will be removed from the code.

Backwards Incompatible API Changes & Deprecations

None

Enhancements

• Added the racecar example from @pwmdebuck, demonstrating cycling constraints and integration about arclength instead of time. #535
• Simplified the SSTO example to use a single ODE component with complex-step. #534
• Added a balanced field length example. #533
• Added the ability to use a callable that returns a System as an ODE. #528

Bug Fixes

• Removed duplication of inputs to timeseries when multiple outputs may use the same source data. #543
• Fixed a bug where timeseries outputs of non-dynamic ODE outputs would cause an exception. #521

Miscellaneous

• Reworked the cannonball example to make it more simple #545
• Placed some more tests under the use_tempdirs decorator to clean up output. #530
• Added a test that checks all docstrings vs the NumpyDoc standard. #526
• Clean up implementation of wildcard units when adding multiple timeseries at once. #523

Dymos 0.18.0

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Release Notes for Dymos 0.18.0

January 21, 2021

This release of Dymos brings a few improvements and bug fixes.

We've implemented introspection for boundary and path constraints such that units and shapes of the constrained quantities can be determined during the setup process and no longer are required to be specified.
The use of solve_segments to have a solver converge the dynamics and thus provide a shooting method at the optimizer has been improved. Option solve_segments can now take on values 'forward' or 'backward' to provide forward or backward shooting.
Linkage constraints will now result in an error if the quantity on each side of the linkage is governed by the optimizer (is a design variable) but is fixed in value (not allowed to be varied).

Backwards Incompatible API Changes & Deprecations

• The command line interface is deprecated due to inconsistent behavior. #505

Enhancements

• Changed CoerceDesvar to handle vector values for ref/ref0/scaler/adder. Carried over changes to for defect ref/defect scaler. #464
• Changed solve_segments to allow it to be used when neither fix_initial nor fix_final are True. #490
• Added detection of unsatisfiable linkage constraints (where quantities on both sides cannot be changed by the optimizer). #502
• Added introspection for boundary and path constraints. #506

Bug Fixes

• Fixed a bug with using grid refinement if one or more of the states are vector-valued. #492
• Fixed issue where show_plots argument to run_problem is permanently changing matplotlib backend. #497
• Fixed a bug where trajectory.simulate() would crash if trajectory were not named the common 'traj' name. #500
• Fixed a bug that prevented restart from working with multiphase trajectories, and now include static parameters in the solution file. #510
• Fixed a bug associated with polynomial control rate sources, and added coverage of more cases. #513
• Fixed exception when simulating a trajectory with a parameter for which None was declared as the target for one of its phases. #515

Miscellaneous

None

Dymos 0.17.0

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Release Notes for Dymos 0.17.0

December 14, 2020

This release of Dymos adds a few important features:

• Dymos can now automatically generate plots of all timeseries outputs
• State rates may now be tagged in the ODE

There are also several bug fixes.

Backwards Incompatible API Changes & Deprecations

• None

Enhancements

• Dymos can now automatically generate plots of all timeseries outputs. #469
• States can now be discovered automatically by tagging their rate variables in the ODE. #477 #481 #484

Bug Fixes

• Fixed issue where polynomial controls were not able to be linked across phases. #462
• Fixed a bug that was preventing parameters from being state rate sources. #466
• Users may now specify parameter shapes as integers or iterables other than tuples. #467

Miscellaneous

• Fix for apache license string in setup.py classifiers since it was not recognized by PyPI. #458
• Added a long description for PyPI. #460
• Some documentation cleanup for the JOSS review #474 #488
• Dropped the dependency on the parameterized package with the intent to utilize subTest in the future. #479

Dymos 0.16.1

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Release Notes for Dymos 0.16.1

November 16, 2020

This release of Dymos fixes an issue that now allows portions of an array
output to be connected to a parameter.

This version works with OpenMDAO 3.3.0 but version 3.4.1 offers some
improved handling of parameters.

Backwards Incompatible API Changes & Deprecations

• Parameter shapes in 0.16.1 were stored as (1,) + the shape of the parameter. Now they are shaped as expected. #444

Enhancements

• State shapes and units, if not explicitly given, are now pulled from targets (if present and uniquely defined), or from the rate source variable. #449

Bug Fixes

• Fixes a bug where user-defined shapes of states were colliding with those found during introspection, and other state introspection updates. #449

• Fixes a bug that prevented the use of numpy arrays as a boundary constraints #450

Miscellaneous

• Added test to verify functionality of OpenMDAO 3.4.1 that allows the final value of a control (or a partial portion of any output) to be connected to a parameter. #445

dymos 0.16.0

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Release Notes for Dymos 0.16.0

October 23, 2020

This is a long-overdue release of Dymos that features several useful new features.
By taking advantage of recent changes to the OpenMDAO setup process, we can use introspection to determine a lot of things automatically now.
For instance, the user will no longer be required to specify the shape or default units of timeseries outputs or constraints (although they can override units if they choose).

Also on the topic of timeseries, dymos now supports glob patterns when adding ODE outputs to the timeseries.
Adding all 100 outputs of a large ODE to the timeseries output can now be accomplished in a single line:

phase.add_timeseries_output('*')

Introspection is also used for states, time, and controls.
States will get their default units and shape from the associated state rate variable now.
Controls, Polynomial Controls, and Parameters will now get their default units and shapes from their targets.

With the advent of automatic IndepVarComps in OpenMDAO, there no longer needs to be a distinction between InputParameters and DesignParameters.
From here on out, users just add parameters to a Trajectory or Phase.
A user can choose to make them design variables (in which case they perform as DesignParameters), or not.
Connecting an external variable to the parameter makes it function as a InputParameter.

From here on, we plan on making releases of Dymos roughly once per month.

Backwards Incompatible API Changes & Deprecations:

• add_input_parameter and add_design_parameter are deprecated and replaced with add_parameter #365
• The use of two-character location strings ('--' and '++') are replaced by 'initial' and 'final' when linking phases. #427
• The endpoint conditions component, used to pull out initial or final values of a variable in a phase, have been removed. Values should instead by pulled from the timeseries. #427
• The results of simulate are now automatically recorded to a database recorder 'dymos_simulation.db' and stored in a case named 'final'. Use CaseReader('dymos_simulation.db').get_case('final') to access the case. instead of the previous behavior CaseReader('dymos_simulation.db').get_case(-1) #437
• The RungeKutta transcription is deprecated. It is functionally equivalent to the GaussLobatto transcription with an order of 3, but since it's signficantly different under the hood it was being a drag on development.

One note on another backwards incompatibility.
Since we're using some newer OpenMDAO capabilities for the way in which parameters are handled, it is currently not possible to connect an upstream output to a parameter in dymos when src_indices are used.
We plan on fixing this issue with an upcoming OpenMDAO release.
If you rely on this capability, we recommend waiting for that update before using this version of Dymos, or using an intermediate "pass-through" component to pull the correct index from the original output and then passing that as the value of a dymos parameter.

Enhancements:

• Dymos components are no longer listed in check_partials output by default. Use dymos.options['include_check_partials'] = True to override this for debugging. #438
• Any outputs can now be linked across phases. Added a more general and powerful add_linkage_constraint method, but the simpler link_phases method remains in place for simple continuity. #422
• Time, controls, and polynomial control units are now determined from targets. #412
• States now pull their default units and shapes from the rate source. #398
• Phase method add_timeseries_output now supports wildcards to allow multiple timeseries outputs to be added at once. #387, #387
• Timeseries outputs automatically detect shape and default units. #380
• Added ph-adaptive refinement method that is capable of shrinking the grid. #379
• Control targets will automatically be set to a top-level input of the ODE, if present. #373
• State targets will automatically be set to a top-level input of the ODE, if present. #356
• Water-powered rocket MDO example added. #343
• State rates are included in timeseries outputs by default. #329
• By default, run_problem will use a problem recorder to record only the 'final' solution after an optimization. #328
• Move most setup functionality to configure to allow more introspection changes. #327
• Include examples using IPOPT via pyoptsparse. #311
• Parameters may now be selectively omitted from the timeseries outputs, but are included by default. #305
• Added a test of the distributed ODE capability. #304
• Replace load_case with reinterpolate_solution. #296

Bug Fixes:

• Fixed a bug that was causing matrix-shaped states to have connection errors. #441
• Fixed a bug where simulate failed when both standard and polynomial controls were present. #434
• Fixed an issue where parameters are promoted twice in some cases. This will cause errors in an upcoming versions of OpenMDAO. #429
• Fixed a bug that was causing matrix-shaped states to have connection errors. #441
• AnalysisError is now raised if scipy.integrate.solve_ivp fails during simulation. #400
• Fixed a bug involving GaussLobatto transcriptions get_rate_source method. #334
• Fix for simulate encountering errors when time options input_initial or input_duration were True. #317
• Fixed a bug in which shaped input parameters were breaking simulate. #301
• Sort linkage orders to make convergence more repeatable. #298

Miscellaneous:

• Switch to use preferred assert_near_equal method instead of assert_rel_error from OpenMDAO. #320
• Documentation is now handled via mkdocs instead of sphinx. #337, #332