性能与稳定性Performance and Stability
- 修复了 BFGS 在 warm start 时的性能问题。Fixed a BFGS performance issue during warm starts.
- 修复了 Gauss-Newton 在某些问题上收敛性差的问题。Improved Gauss-Newton convergence on certain problems.
- 优化稀疏矩阵存储，降低内存占用与计算时间。Optimized sparse matrix storage to reduce memory usage and computation time.
工程能力Engineering Capabilities
- 在求解中增加对 option 的有效性检查。Added option validation during solving.
- 在编译时检查 prob 与 solver 的版本一致性。Added compile-time version compatibility checks between prob and solver.
- 新增代码生成时自定义源文件与头文件后缀名的选项。Added options to customize source and header file suffixes during code generation.
新增功能与平台支持New Features and Platform Support
- 新增二维占据网格避障约束Added obstacle avoidance constraints for 2D occupancy grids：
point_to_occupancy_map_inequality - 新增 QNX ARM64 GCC 平台支持Added QNX ARM64 GCC platform support：
qnx-arm64-gcc - 新增 Windows x86_64 MSVC 编译器支持Added Windows x86_64 MSVC compiler support：
windows-x86_64-msvc - 新增输出最多 8 个不等式约束拉格朗日乘子的支持。Added output support for Lagrange multipliers of up to eight inequality constraints.
