source: projects/ckbs/trunk/omh/whatsnew.omh @ 35

Last change on this file since 35 was 35, checked in by bradbell, 11 years ago

Revmove reference to gpl2.txt and further shorten copyright and license statement

File size: 6.1 KB
Line 
1# -------------------------------------------------------------------
2# ckbs: Constrained Kalman-Bucy Smoother Program: Copyright (C) 2006
3# Authors: Bradlely Bell:        bradbell at washington dot edu
4#          Gianluigi Pillonetto: giapi at dei dot unipd dot it
5# License: GNU General Public License Version 2
6# -------------------------------------------------------------------
7$begin whatsnew$$
8$rmark !$$
9$spell 
10        ckbs
11        Matlab
12        yy-mm-dd
13        rinv
14        itr
15        qinv
16        Han
17$$
18
19$section Changes and Additions to ckbs$$
20
21$head Introduction$$
22This section contains a list of changes to
23ckbs (in reverse order by date).
24Its purpose is to assist you in learning about
25changes between versions.
26
27$head 07-09-02$$
28The $cref/ckbs_nonlinear/$$ algorithm has been modified
29to conform with the global convergence theory of Burke and Han.
30This involved adding the exact penalty parameter $latex \alpha$$
31which is included in the trace and $italic info$$ return.
32
33$head 07-08-31$$
34In the case where the constraints were not active,
35the $code ckbs_affine$$ return value $cref/uOut/ckbs_affine/uOut/$$
36was a three dimensional array instead of a matrix.
37This has been fixed.
38
39$head 06-11-05$$
40Fix plotting the wrong variables in constrained case for
41$cref/nonlinear_ok_box.m/$$.
42$pre
43
44$$
45Improve the documentation of the initial state estimate in
46$cref/g_fun/ckbs_nonlinear/g_fun/$$ and
47$cref/qinv/ckbs_nonlinear/qinv/$$ for $code ckbs_nonlinear$$.
48$pre
49
50$$
51Improve the documentation of the initial state estimate in
52$cref/g_fun/ckbs_nonlinear/g_fun/$$ and
53$cref/qinv/ckbs_nonlinear/qinv/$$ for $code ckbs_nonlinear$$.
54
55
56$head 06-11-03$$
57The order of the variables in the state vector
58for $cref/nonlinear_ok_box.m/$$ and
59for $cref/nonlinear_ok_sin.m/$$
60was changed
61to group each component of velocity with the corresponding position
62(instead of grouping position with position and velocity with velocity).
63This made the variance matrix $latex Q_k$$ block diagonal
64(simpler).
65
66
67$head 06-10-24$$
68The fonts got misaligned in the $code ckbs_affine$$
69$cref/syntax/ckbs_affine/Syntax/$$ documentation.
70This has been fixed.
71
72$head 06-10-20$$
73The $cref/ckbs_nonlinear/$$ implementation was greatly simplified
74using the fact that $cref/ckbs_affine/$$ no longer requires a feasible
75starting point.
76This removed the need for an augmented problem and hence the
77$cref/info/ckbs_nonlinear/info/$$ return value from $code ckbs_nonlinear$$
78no longer has a penalty parameter; i.e., it has one less value per row.
79$pre
80
81$$
82$cref/all_ok.m/$$ was extended so that if no argument is provided,
83only the quick tests are run.
84
85$head 06-10-19$$
86The $cref/ckbs_affine/$$ routine has been improved so that it no
87longer requires a feasible input point
88so the input argument $italic xIn$$ has been removed.
89Since the sequence of iterates is no longer necessarily feasible,
90the $cref/info/ckbs_affine/info/$$ return value now has been changed
91so that it now includes a measure of feasibility.
92The input argument $cref/max_itr/ckbs_affine/max_itr/$$
93has been added to $code ckbs_affine$$.
94The $cref/affine_ok_box.m/$$ example has been changed to use the new
95meaning for the arguments and return values of $code ckbs_affine$$.
96$pre
97
98$$
99The $italic itr_out$$ return value has been removed from the
100$cref/ckbs_nonlinear/$$ syntax.
101It was the same as $syntax%size(%info%, 1)%$$.
102The following examples have been changed to remove the use of $italic itr_out$$
103in the calls to $code ckbs_nonlinear$$:
104$cref/nonlinear_ok_simple.m/$$,
105$cref/nonlinear_ok_box.m/$$,
106$cref/nonlinear_ok_sin.m/$$.
107$pre
108
109$$
110The implementation of $cref/ckbs_nonlinear/$$ has been changed to use
111the new calling sequence to $cref/ckbs_affine/$$ (this is implementation
112detail and does not affect the user).
113
114$head 06-10-13$$
115The line search in $cref/ckbs_affine/$$ had a bug where the sign
116of the condition it was checking was reversed. This has been changed.
117In addition, the minimum line search step size in the sub-problem
118was added to the $cref/info/ckbs_nonlinear/info/$$ return value
119for $cref/ckbs_nonlinear/$$.
120$pre
121
122$$
123There was a syntax error in $cref/nonlinear_ok_simple.m/$$ that
124caused a problem in Matlab!, but not in octave.
125This has been fixed.
126
127
128$head 06-10-05$$
129$list number$$
130Matlab! does not combine character matrices with different numbers
131of columns.
132A debugging message assignment in $code ckbs_nonlinear.m$$
133was removed to avoid this.
134$lnext
135Documentation for missing data values was added to
136$cref/rinv/ckbs_nonlinear/rinv/$$.
137$lnext
138Some minor Matlab compatibility problems
139in the files
140$code test/nonlinear_ok_box.m$$ and
141$code test/nonlinear_ok_sin.m$$ were fixed.
142$lnext
143The directory created when the
144$cref/download file/ckbs/Download Instructions/$$ was extracted
145was $code ckbs$$ instead of $syntax%ckbs-%yy%-%mm%-%dd%$$.
146This has been fixed.
147$lnext
148The $cref/utility/$$ section,
149and all its subsections,
150were missing from the documentation.
151$lnext
152The number of input arguments and output values for
153$cref/ckbs_nonlinear/$$ has been changes to allow for
154control of the number of iterations.
155$lnext
156Line search failure in $cref/ckbs_nonlinear/$$ was converted from
157an error to a warning.
158$lend
159
160$head 06-10-01$$
161$list number$$
162The $cref/test_path.m/$$ function was added so that
163it is easier to run a single test at the command line
164(you need to run this function first).
165$lnext
166A tracing argument called $italic level$$ was added to
167$cref/ckbs_nonlinear/$$.
168This tracing was turned on in the
169$cref/nonlinear_ok_box.m/$$ example.
170$lnext
171The nonlinear constraint example
172$cref/nonlinear_ok_sin.m/$$ was added.
173It demonstrates significant improvement by
174the inclusion of the constraints.
175$lnext
176The $italic draw_plot$$ argument to the $cref/nonlinear_ok_box.m/$$ example
177was documented.
178$lnext
179The $italic quick$$ argument was added to $cref/all_ok.m/$$.
180$lnext
181The files
182$code test/nonlinear_ok_sin.r$$ and
183$code test/nonlinear_ok_box.r$$ were
184added to the distribution.
185(These are R source code files that are used to make plots from the
186corresponding example output files.)
187$lend
188
189
190$head 06-09-30$$
191The function $code ckbs$$ has been changed to
192$cref/ckbs_nonlinear/$$. This enables the
193$cref/ckbs/$$ section to refer to the
194documentation for the entire system.
195
196
197$end
Note: See TracBrowser for help on using the repository browser.