Semi-bugs/features:
- scale_by_problem_size for path goals now only uses number of active time steps.
- Much improved scaling of initial derivatives.
- Improve branch allocation of ControlTreeMixin.
- Fix inconsistencies in internal API w.r.t. what methods can return symbolic values.
Improved checks:
- Sanity checks on goals, e.g. function ranges. Some models may fail the checks now, but if they do the goal in question did not make much sense anyway.
New features:
- Vector goals (mostly a performance improvement)
- Optional more generic/optimal way of translating goals from current priority to the next. See
keep_soft_constraintsoption added in commit f6eb00d. - Can now provide a custom (initial) seed to SimulationProblem.
- Allow extra variables to appear in path expressions
- New examples, in particular showing the use (and strength) of using HomotopyMixin for channel flow.
- Many large and small optimizations and refactorings for perform