v0.13.2

CTDirect v0.13.2

Diff since v0.13.1

removed duplicate OCP solution constructor (moved to CTBase)

Merged pull requests:

• rm OptimalControlSolution builder (#355) (@ocots)
• removed duplicate OCP solution constructor (moved to CTBase) (#356) (@PierreMartinon)

Closed issues:

• Possible post optimization error when using a locale with a comma as floating point (#99)
• Higher order scheme (#101)
• Add optimisation solver: Knitro (#333)
• change default tol (#335)
• Change AD backend (#343)
• Breakage CI action: Conflict on artifact name (#345)
• To be removed (#354)

v0.13.1

CTDirect v0.13.1

Diff since v0.13.0

• added support for Knitro NLP solver (if installed): sol = direct_solve(ocp, :knitro)
• added option to change the AD backend. In case of AD error messages, one may try a slower but less stringy backend: sol = direct_solve(ocp; adnlp_backend=:default)
• added manual sparsity patterns for Hessian and Jacobian, that may be faster for large problem sizes (typically with higher order discretizations): sol = direct_solve(ocp; adnlp_backend=:manual)
• default tolerance for NLP solver set to 1e-6 (previously 1e-8); value can still be set explicitely: sol = direct_solve(ocp; tol=1e-12)
• added description of main options for direct_solve in API docs
• default control type for IRK methods is now piecewise constant (previously linear)
• less allocations for IRK methods

Merged pull requests:

• quick bench (#340) (@PierreMartinon)
• jump code for algal problem; pics subfolder (#342) (@PierreMartinon)
• Misc updates (#347) (@PierreMartinon)
• Manual sparse pattern for Jacobian and Hessian (#348) (@PierreMartinon)
• Add NLP solver Knitro (#351) (@PierreMartinon)
• Update breakage workflow: artifact v4 (#352) (@PierreMartinon)
• 0.13.1 (#353) (@PierreMartinon)

Closed issues:

• Linear solvers for Ipopt (#69)
• One-line output for print_level=1 (#86)
• Redo a pass on memory allocations (#169)
• Pass sparse structure of constraints to NLPModels (#183)
• Pb with zero in dyn rhs? (#190)
• Move import / export functions to CTBase (#325)
• put back inria runners (#334)

v0.13.0

CTDirect v0.13.0

Diff since v0.12.1

Main change for v0.13 is the discretization method option: in addition to the default trapeze method, one can chose the implicit midpoint or Gauss-Legendre collocation with 2 or 3 stages. Note that higher order methods typically increase the size of the discretized problem.

Current available options are:
disc_method = :trapeze [default] | :midpoint | :gauss_legendre_2 | :gauss_legendre_3

Merged pull requests:

• Implicit Runge Kutta (#330) (@PierreMartinon)
• Prepare 0.13 (#331) (@PierreMartinon)
• 0.13 (#332) (@PierreMartinon)

v0.12.1

CTDirect v0.12.1

Diff since v0.12.0

Merged pull requests:

• Bump peter-evans/create-pull-request from 3 to 6 (#223) (@dependabot[bot])
• Bump actions/checkout from 2 to 4 (#225) (@dependabot[bot])
• Added implicit midpoint discretization (#228) (@PierreMartinon)
• update prof (#229) (@PierreMartinon)
• CompatHelper: add new compat entry for Documenter at version 1 for package docs, (drop existing compat) (#247) (@github-actions[bot])
• CompatHelper: add new compat entry for JSON3 at version 1 for package docs, (drop existing compat) (#248) (@github-actions[bot])
• CompatHelper: add new compat entry for HSL at version 0.4 for package docs, (drop existing compat) (#249) (@github-actions[bot])
• CompatHelper: add new compat entry for DocumenterMermaid at version 0.1 for package docs, (drop existing compat) (#250) (@github-actions[bot])
• CompatHelper: add new compat entry for Plots at version 1 for package docs, (drop existing compat) (#251) (@github-actions[bot])
• CompatHelper: add new compat entry for CTDirect at version 0.12 for package docs, (drop existing compat) (#252) (@github-actions[bot])
• CompatHelper: add new compat entry for NLPModelsIpopt at version 0.10 for package docs, (drop existing compat) (#253) (@github-actions[bot])
• CompatHelper: add new compat entry for JLD2 at version 0.4 for package docs, (drop existing compat) (#254) (@github-actions[bot])
• CompatHelper: add new compat entry for CTBase at version 0.13 for package docs, (drop existing compat) (#255) (@github-actions[bot])
• CompatHelper: add new compat entry for JLD2 at version 0.4 for package test, (drop existing compat) (#256) (@github-actions[bot])
• CompatHelper: add new compat entry for Statistics at version 1 for package test, (drop existing compat) (#257) (@github-actions[bot])
• CompatHelper: add new compat entry for CTBase at version 0.13 for package test, (drop existing compat) (#258) (@github-actions[bot])
• CompatHelper: add new compat entry for MadNLP at version 0.8 for package test, (drop existing compat) (#259) (@github-actions[bot])
• CompatHelper: add new compat entry for JSON3 at version 1 for package test, (drop existing compat) (#260) (@github-actions[bot])
• CompatHelper: add new compat entry for NLPModelsIpopt at version 0.10 for package test, (drop existing compat) (#261) (@github-actions[bot])
• CompatHelper: add new compat entry for HSL at version 0.4 for package test, (drop existing compat) (#262) (@github-actions[bot])
• Bump pozil/auto-assign-issue from 1 to 2 (#263) (@dependabot[bot])
• Bump actions/cache from 1 to 4 (#264) (@dependabot[bot])
• CompatHelper: add new compat entry for SplitApplyCombine at version 1 for package test, (drop existing compat) (#266) (@github-actions[bot])
• some renaming (#268) (@PierreMartinon)
• updated solve_docp, DOCP (#274) (@PierreMartinon)
• add aqua tests (#277) (@ocots)
• CompatHelper: bump compat for JLD2 in [weakdeps] to 0.5, (drop existing compat) (#279) (@github-actions[bot])
• CompatHelper: bump compat for JLD2 to 0.5 for package docs, (drop existing compat) (#280) (@github-actions[bot])
• CompatHelper: bump compat for JLD2 to 0.5 for package test, (drop existing compat) (#281) (@github-actions[bot])
• Bump peter-evans/create-pull-request from 6 to 7 (#282) (@dependabot[bot])
• bugfix for midpoint (#284) (@PierreMartinon)
• Update Breakage.yml (#293) (@ocots)
• Update Breakage.yml (#294) (@ocots)
• Bump actions/checkout from 3 to 4 (#296) (@dependabot[bot])
• Inplace (#297) (@PierreMartinon)
• midpoint is enabled again; cleanup old tests (#310) (@PierreMartinon)
• enable windows in ci (#313) (@PierreMartinon)
• inplace version with big vector for dynamics and fused operations for discretization (#318) (@PierreMartinon)
• re enable coverage workflow (#319) (@PierreMartinon)
• no allocs in state equation for trapeze (#320) (@PierreMartinon)
• midpoint allocs ok (#321) (@PierreMartinon)
• Bump codecov/codecov-action from 4 to 5 (#322) (@dependabot[bot])
• Move import/export functions to CTBase (#328) (@PierreMartinon)

Closed issues:

• Bring back CI test for windows (#95)
• Use inplace when building the NLP model (#188)
• [Dev] Aqua tests (#265)
• Type solve_docp (#271)
• Simplify solve_docp core (#272)

v0.12.0

CTDirect v0.12.0

Diff since v0.11.1

Merged pull requests:

• fix __display (#201) (@ocots)
• Update README.md (#202) (@ocots)
• Create Breakage.yml (#208) (@ocots)
• benchmark update; added compat entries (#209) (@PierreMartinon)
• Fixed constraints / multipliers parsing in solution (#210) (@PierreMartinon)
• Update README.md (#211) (@ocots)
• CompatHelper: bump compat for CTBase to 0.13, (keep existing compat) (#212) (@github-actions[bot])
• Update README.md (#213) (@ocots)
• Update README.md (#214) (@ocots)
• CTBase 0.13 (#216) (@PierreMartinon)
• format code (#218) (@ocots)
• Create .JuliaFormatter.toml (#219) (@ocots)
• updated json format export/import (#220) (@PierreMartinon)

Closed issues:

• __display not defined (#199)
• Add breakage (#207)
• Compat CTBase.jl v0.13 (#215)

v0.11.1

CTDirect v0.11.1

Diff since v0.11.0

• added parsing of constraints multipliers
• separate source files for tests problems
• more streamlined OptimalControlSolution constructors

Merged pull requests:

• parse constraints and their multipliers (#198) (@PierreMartinon)

Closed issues:

• Adjoint (dynamics multipliers) parsing (#184)
• Default linear solver (#194)

v0.11.0

CTDirect v0.11.0

Diff since v0.10.0

Merged pull requests:

• start integration of madnlp (#191) (@PierreMartinon)

Closed issues:

• Ocp, docp, nlp models... (#115)
• Bug tf variable (#189)
• Default grid size (#193)
• Default values (#195)
• New ExtensionError (#197)

v0.10.0

CTDirect v0.10.0

Diff since v0.9.6

Merged pull requests:

• bugfix in dual variables parsing (#185) (@PierreMartinon)
• problem library now defines functions (#186) (@PierreMartinon)
• 0.10.0 (#187) (@PierreMartinon)

Closed issues:

• Performance test (optimisation) (#61)

v0.9.6

CTDirect v0.9.6

Diff since v0.9.5

Merged pull requests:

• remove ct-registry (#179) (@ocots)
• Update README.md (#180) (@ocots)
• Prof (#181) (@PierreMartinon)
• unified test files (#182) (@PierreMartinon)

Closed issues:

• Move solve to OptimalControl.jl (#175)
• Release v0.9.5 (#177)
• Remove ct-registry (#178)

v0.9.5

CTDirect v0.9.5

Diff since v0.9.4

Merged pull requests:

• move solve to OptimalControl (#176) (@PierreMartinon)

Closed issues:

• Go to general registry 🤞 (#156)