Gradgen v0.3 brings two significant changes:

1. It has been redesigned to generate Rust crates, optionally marked with #[no_std] so you can use them directly in your embedded applications
2. It comes with specialised code generation mechanisms for optimal control leading to Rust code that does not increase in size with the prediction horizon

We are already working on gradgen v0.3 which will bring one more significant change: support for high-order functions like map, zip, and reduce, which will improve code generation even more.

Our goal is to exploit the structure of a function, its gradient, and Hessian to generate more efficient, elegant, and fast Rust code.