source: projects/ckbs/trunk/omh/whatsnew.omh @ 69

Last change on this file since 69 was 69, checked in by bradbell, 11 years ago

[ckbs/trunk] Improve helper shell scripts.

svn_status.sh: remove some more work files from svn status list.
whatsnew.omh: fix cross reference link to ckbs (which changed).
ckbs.omh: Change download instrutions so will work with Coin automation.
copy_doc.sh: automatically bring ckbs web documentation up to date.
new_stable.sh: script to help create a new stable version.
build_doc.sh: exit if warnings or errors occur in documentation.

File size: 6.3 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        yyyymmdd
11        yyyy mm dd
12        ckbs
13        Matlab
14        yy-mm-dd
15        rinv
16        itr
17        qinv
18        Han
19$$
20
21$section Changes and Additions to ckbs$$
22
23$head Introduction$$
24This section contains a list of changes to
25ckbs (in reverse order by date).
26Its purpose is to assist you in learning about
27changes between versions.
28
29$head 10-02-28$$
30Change $cref/download/ckbs/Download/$$ instructions
31to correspond $href%http://www.coin-or.org%COIN-OR%$$ distribution
32instead of form
33$href%http://www.seanet.com/~bradbell%Brad Bell's home page%$$.
34
35$head 07-09-02$$
36The $cref/ckbs_nonlinear/$$ algorithm has been modified
37to conform with the global convergence theory of Burke and Han.
38This involved adding the exact penalty parameter $latex \alpha$$
39which is included in the trace and $italic info$$ return.
40
41$head 07-08-31$$
42In the case where the constraints were not active,
43the $code ckbs_affine$$ return value $cref/uOut/ckbs_affine/uOut/$$
44was a three dimensional array instead of a matrix.
45This has been fixed.
46
47$head 06-11-05$$
48Fix plotting the wrong variables in constrained case for
49$cref/nonlinear_ok_box.m/$$.
50$pre
51
52$$
53Improve the documentation of the initial state estimate in
54$cref/g_fun/ckbs_nonlinear/g_fun/$$ and
55$cref/qinv/ckbs_nonlinear/qinv/$$ for $code ckbs_nonlinear$$.
56$pre
57
58$$
59Improve the documentation of the initial state estimate in
60$cref/g_fun/ckbs_nonlinear/g_fun/$$ and
61$cref/qinv/ckbs_nonlinear/qinv/$$ for $code ckbs_nonlinear$$.
62
63
64$head 06-11-03$$
65The order of the variables in the state vector
66for $cref/nonlinear_ok_box.m/$$ and
67for $cref/nonlinear_ok_sin.m/$$
68was changed
69to group each component of velocity with the corresponding position
70(instead of grouping position with position and velocity with velocity).
71This made the variance matrix $latex Q_k$$ block diagonal
72(simpler).
73
74
75$head 06-10-24$$
76The fonts got misaligned in the $code ckbs_affine$$
77$cref/syntax/ckbs_affine/Syntax/$$ documentation.
78This has been fixed.
79
80$head 06-10-20$$
81The $cref/ckbs_nonlinear/$$ implementation was greatly simplified
82using the fact that $cref/ckbs_affine/$$ no longer requires a feasible
83starting point.
84This removed the need for an augmented problem and hence the
85$cref/info/ckbs_nonlinear/info/$$ return value from $code ckbs_nonlinear$$
86no longer has a penalty parameter; i.e., it has one less value per row.
87$pre
88
89$$
90$cref/all_ok.m/$$ was extended so that if no argument is provided,
91only the quick tests are run.
92
93$head 06-10-19$$
94The $cref/ckbs_affine/$$ routine has been improved so that it no
95longer requires a feasible input point
96so the input argument $italic xIn$$ has been removed.
97Since the sequence of iterates is no longer necessarily feasible,
98the $cref/info/ckbs_affine/info/$$ return value now has been changed
99so that it now includes a measure of feasibility.
100The input argument $cref/max_itr/ckbs_affine/max_itr/$$
101has been added to $code ckbs_affine$$.
102The $cref/affine_ok_box.m/$$ example has been changed to use the new
103meaning for the arguments and return values of $code ckbs_affine$$.
104$pre
105
106$$
107The $italic itr_out$$ return value has been removed from the
108$cref/ckbs_nonlinear/$$ syntax.
109It was the same as $syntax%size(%info%, 1)%$$.
110The following examples have been changed to remove the use of $italic itr_out$$
111in the calls to $code ckbs_nonlinear$$:
112$cref/nonlinear_ok_simple.m/$$,
113$cref/nonlinear_ok_box.m/$$,
114$cref/nonlinear_ok_sin.m/$$.
115$pre
116
117$$
118The implementation of $cref/ckbs_nonlinear/$$ has been changed to use
119the new calling sequence to $cref/ckbs_affine/$$ (this is implementation
120detail and does not affect the user).
121
122$head 06-10-13$$
123The line search in $cref/ckbs_affine/$$ had a bug where the sign
124of the condition it was checking was reversed. This has been changed.
125In addition, the minimum line search step size in the sub-problem
126was added to the $cref/info/ckbs_nonlinear/info/$$ return value
127for $cref/ckbs_nonlinear/$$.
128$pre
129
130$$
131There was a syntax error in $cref/nonlinear_ok_simple.m/$$ that
132caused a problem in Matlab!, but not in octave.
133This has been fixed.
134
135
136$head 06-10-05$$
137$list number$$
138Matlab! does not combine character matrices with different numbers
139of columns.
140A debugging message assignment in $code ckbs_nonlinear.m$$
141was removed to avoid this.
142$lnext
143Documentation for missing data values was added to
144$cref/rinv/ckbs_nonlinear/rinv/$$.
145$lnext
146Some minor Matlab compatibility problems
147in the files
148$code test/nonlinear_ok_box.m$$ and
149$code test/nonlinear_ok_sin.m$$ were fixed.
150$lnext
151The directory created when the
152$cref/download file/ckbs/Download/Release Tarballs/$$ was extracted
153was $code ckbs$$ instead of $syntax%ckbs-%yy%-%mm%-%dd%$$.
154This has been fixed.
155$lnext
156The $cref/utility/$$ section,
157and all its subsections,
158were missing from the documentation.
159$lnext
160The number of input arguments and output values for
161$cref/ckbs_nonlinear/$$ has been changes to allow for
162control of the number of iterations.
163$lnext
164Line search failure in $cref/ckbs_nonlinear/$$ was converted from
165an error to a warning.
166$lend
167
168$head 06-10-01$$
169$list number$$
170The $cref/test_path.m/$$ function was added so that
171it is easier to run a single test at the command line
172(you need to run this function first).
173$lnext
174A tracing argument called $italic level$$ was added to
175$cref/ckbs_nonlinear/$$.
176This tracing was turned on in the
177$cref/nonlinear_ok_box.m/$$ example.
178$lnext
179The nonlinear constraint example
180$cref/nonlinear_ok_sin.m/$$ was added.
181It demonstrates significant improvement by
182the inclusion of the constraints.
183$lnext
184The $italic draw_plot$$ argument to the $cref/nonlinear_ok_box.m/$$ example
185was documented.
186$lnext
187The $italic quick$$ argument was added to $cref/all_ok.m/$$.
188$lnext
189The files
190$code test/nonlinear_ok_sin.r$$ and
191$code test/nonlinear_ok_box.r$$ were
192added to the distribution.
193(These are R source code files that are used to make plots from the
194corresponding example output files.)
195$lend
196
197
198$head 06-09-30$$
199The function $code ckbs$$ has been changed to
200$cref/ckbs_nonlinear/$$. This enables the
201$cref/ckbs/$$ section to refer to the
202documentation for the entire system.
203
204
205$end
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