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Merged
ocots merged 2 commits into from
Apr 21, 2026
Merged

Update for CTModels v0.9.15-beta API changes #770

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39912cc
Update for CTModels v0.9.15-beta API changes
ocots Apr 21, 2026
b39ee75
Restructure documentation TOC and fix constraint dimension functions
ocots Apr 21, 2026
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2 changes: 1 addition & 1 deletion Project.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ BenchmarkTools = "1"
CTBase = "0.18"
CTDirect = "1"
CTFlows = "0.8"
CTModels = "0.9, 0.10"
CTModels = "0.10"
CTParser = "0.8"
CTSolvers = "0.4"
CUDA = "5"
Expand Down
4 changes: 2 additions & 2 deletions docs/Project.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ ADNLPModels = "0.8"
CTBase = "0.18"
CTDirect = "1"
CTFlows = "0.8"
CTModels = "0.9"
CTModels = "0.10"
CTParser = "0.8"
CTSolvers = "0.4"
CUDA = "5"
Expand All @@ -53,4 +53,4 @@ NonlinearSolve = "4"
OrdinaryDiffEq = "6"
Plots = "1"
UnoSolver = "0.3"
julia = "1.10"
julia = "1.10"
12 changes: 12 additions & 0 deletions docs/src/api/public.md
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Original file line number Diff line number Diff line change
Expand Up @@ -55,9 +55,13 @@ costate
criterion
@def
definition
expression
describe
dim_boundary_constraints_nl
dim_control_constraints_box
dim_dual_control_constraints_box
dim_dual_state_constraints_box
dim_dual_variable_constraints_box
dim_path_constraints_nl
dim_state_constraints_box
dim_variable_constraints_box
Expand All @@ -76,6 +80,11 @@ has_free_initial_time
has_lagrange_cost
has_mayer_cost
has_option
has_variable
is_variable
has_control
is_control_free
has_abstract_definition
id
import_ocp_solution
index
Expand All @@ -86,6 +95,9 @@ initial_time_name
is_autonomous
is_computed
is_default
is_abstractly_defined
is_nonautonomous
is_nonvariable
is_empty
is_empty_time_grid
is_final_time_fixed
Expand Down
100 changes: 47 additions & 53 deletions docs/src/assets/Manifest.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@

julia_version = "1.12.5"
manifest_format = "2.0"
project_hash = "b0d8b73e668b2a300e75cec748fa7e05cad42a09"
project_hash = "505b0cb4420cde5e120adb378ac9d10f3e75d872"

[[deps.ADNLPModels]]
deps = ["ADTypes", "ForwardDiff", "LinearAlgebra", "NLPModels", "Requires", "ReverseDiff", "SparseArrays", "SparseConnectivityTracer", "SparseMatrixColorings"]
Expand Down Expand Up @@ -101,9 +101,9 @@ version = "1.1.2"

[[deps.ArrayInterface]]
deps = ["Adapt", "LinearAlgebra"]
git-tree-sha1 = "78b3a7a536b4b0a747a0f296ea77091ca0a9f9a3"
git-tree-sha1 = "54f895554d05c83e3dd59f6a396671dae8999573"
uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9"
version = "7.23.0"
version = "7.24.0"

[deps.ArrayInterface.extensions]
ArrayInterfaceAMDGPUExt = "AMDGPU"
Expand Down Expand Up @@ -226,25 +226,25 @@ version = "0.18.7"

[[deps.CTDirect]]
deps = ["ADNLPModels", "CTModels", "CTSolvers", "DocStringExtensions", "ExaModels", "SolverCore", "SparseArrays", "SparseConnectivityTracer"]
git-tree-sha1 = "a4d812f60412f47bf29e685a921d0d675f581d55"
git-tree-sha1 = "21b9ea456769176849cdcbd20f04a017526daa76"
uuid = "790bbbee-bee9-49ee-8912-a9de031322d5"
version = "1.0.7-beta"
version = "1.0.10"

[[deps.CTFlows]]
deps = ["CTBase", "CTModels", "DocStringExtensions", "ForwardDiff", "LinearAlgebra", "MLStyle", "MacroTools"]
git-tree-sha1 = "919b47b3c8a9c2fc2c8606ee8fce826bef6d36b2"
git-tree-sha1 = "b555d36b668dc149334a50b835df91a301bad8ac"
uuid = "1c39547c-7794-42f7-af83-d98194f657c2"
version = "0.8.23"
version = "0.8.25"
weakdeps = ["OrdinaryDiffEq"]

[deps.CTFlows.extensions]
CTFlowsODE = "OrdinaryDiffEq"

[[deps.CTModels]]
deps = ["CTBase", "DocStringExtensions", "LinearAlgebra", "MLStyle", "MacroTools", "OrderedCollections", "Parameters", "RecipesBase"]
git-tree-sha1 = "6f8db9437164a844f3dde8f239a82b087d6b6336"
git-tree-sha1 = "a183ce43a9f912a4b62a8af88ba1415c6e2b1521"
uuid = "34c4fa32-2049-4079-8329-de33c2a22e2d"
version = "0.9.14"
version = "0.10.0"
weakdeps = ["JLD2", "JSON3", "Plots"]

[deps.CTModels.extensions]
Expand All @@ -254,15 +254,15 @@ weakdeps = ["JLD2", "JSON3", "Plots"]

[[deps.CTParser]]
deps = ["CTBase", "DocStringExtensions", "MLStyle", "OrderedCollections", "Parameters", "Unicode"]
git-tree-sha1 = "0a57111b2d95d6272bb76f4f6f7c4fee1e40ce82"
git-tree-sha1 = "67c193f4f1e5167123b917bbbdb26947757ed4b0"
uuid = "32681960-a1b1-40db-9bff-a1ca817385d1"
version = "0.8.13"
version = "0.8.14"

[[deps.CTSolvers]]
deps = ["ADNLPModels", "CTBase", "CTModels", "CommonSolve", "DocStringExtensions", "ExaModels", "KernelAbstractions", "NLPModels", "SolverCore"]
git-tree-sha1 = "22c283a24bd1b51cf2795074a6ec3fe0bff78adb"
git-tree-sha1 = "cc69a7ad7e18ca089e0168c6b361ee1e50a3cfc2"
uuid = "d3e8d392-8e4b-4d9b-8e92-d7d4e3650ef6"
version = "0.4.15"
version = "0.4.16"

[deps.CTSolvers.extensions]
CTSolversCUDA = "CUDA"
Expand Down Expand Up @@ -306,15 +306,15 @@ version = "5.11.0"

[[deps.CUDA_Compiler_jll]]
deps = ["Artifacts", "CUDA_Driver_jll", "CUDA_Runtime_jll", "JLLWrappers", "LazyArtifacts", "Libdl", "TOML"]
git-tree-sha1 = "8c19e97de5b7574672e4a7a3abd55714ad66d59a"
git-tree-sha1 = "b977706846cb0a75d3842a1fed810ab2e6ab2f94"
uuid = "d1e2174e-dfdc-576e-b43e-73b79eb1aca8"
version = "0.4.2+0"
version = "0.4.3+0"

[[deps.CUDA_Driver_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "TOML"]
git-tree-sha1 = "061f39cc84e99928830aa1005d79f7e99097ba28"
git-tree-sha1 = "3b759ec65ac87ad192c2925114fa5c126657a5bd"
uuid = "4ee394cb-3365-5eb0-8335-949819d2adfc"
version = "13.2.0+0"
version = "13.2.1+0"

[[deps.CUDA_Runtime_Discovery]]
deps = ["Libdl"]
Expand All @@ -324,9 +324,9 @@ version = "1.0.0"

[[deps.CUDA_Runtime_jll]]
deps = ["Artifacts", "CUDA_Driver_jll", "JLLWrappers", "LazyArtifacts", "Libdl", "TOML"]
git-tree-sha1 = "af17d37b5b8b4d7525f8902eba1ef6141a9a7d3b"
git-tree-sha1 = "c0314d9fb0ebd00e404feba4c3fbc04c9975abc1"
uuid = "76a88914-d11a-5bdc-97e0-2f5a05c973a2"
version = "0.21.0+0"
version = "0.21.0+1"

[[deps.CUDSS]]
deps = ["CEnum", "CUDA", "CUDA_Runtime_Discovery", "CUDSS_jll", "GPUToolbox", "LinearAlgebra", "SparseArrays"]
Expand Down Expand Up @@ -539,10 +539,10 @@ uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab"
version = "1.9.1"

[[deps.DiffEqBase]]
deps = ["ArrayInterface", "BracketingNonlinearSolve", "ConcreteStructs", "DocStringExtensions", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "Setfield", "Static", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
git-tree-sha1 = "87e2ad6d4ae98505218e2f97cafcfa296dc97d37"
deps = ["ArrayInterface", "BracketingNonlinearSolve", "ConcreteStructs", "DocStringExtensions", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLLogging", "SciMLOperators", "SciMLStructures", "Setfield", "Static", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
git-tree-sha1 = "9d333db14895e8c7d4857ed228eb1e72d3b302ec"
uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
version = "6.216.0"
version = "6.218.0"

[deps.DiffEqBase.extensions]
DiffEqBaseCUDAExt = "CUDA"
Expand Down Expand Up @@ -859,9 +859,9 @@ version = "1.16.0"

[[deps.FiniteDiff]]
deps = ["ArrayInterface", "LinearAlgebra", "Setfield"]
git-tree-sha1 = "9340ca07ca27093ff68418b7558ca37b05f8aeb1"
git-tree-sha1 = "73e879af0e767bd6dfade7c5b09d7b05657a8284"
uuid = "6a86dc24-6348-571c-b903-95158fe2bd41"
version = "2.29.0"
version = "2.30.0"

[deps.FiniteDiff.extensions]
FiniteDiffBandedMatricesExt = "BandedMatrices"
Expand Down Expand Up @@ -921,9 +921,9 @@ version = "1.1.3"

[[deps.FunctionWrappersWrappers]]
deps = ["FunctionWrappers", "PrecompileTools", "TruncatedStacktraces"]
git-tree-sha1 = "3e13d0b39d117a03d3fb5c88a039e94787a37fcb"
git-tree-sha1 = "ce6762f8f0e7542534f01523ae051e625cbf0468"
uuid = "77dc65aa-8811-40c2-897b-53d922fa7daf"
version = "1.4.0"
version = "1.5.0"

[deps.FunctionWrappersWrappers.extensions]
FunctionWrappersWrappersEnzymeExt = ["Enzyme", "EnzymeCore"]
Expand All @@ -947,9 +947,9 @@ version = "3.4.1+1"

[[deps.GPUArrays]]
deps = ["Adapt", "GPUArraysCore", "KernelAbstractions", "LLVM", "LinearAlgebra", "Printf", "Random", "Reexport", "ScopedValues", "Serialization", "SparseArrays", "Statistics"]
git-tree-sha1 = "6487601563e4a1d1dab796e88b4548bf5544209e"
git-tree-sha1 = "99ebe50e3b6537de14d43f1c88963a2e13eff3b7"
uuid = "0c68f7d7-f131-5f86-a1c3-88cf8149b2d7"
version = "11.4.1"
version = "11.5.1"
weakdeps = ["JLD2"]

[deps.GPUArrays.extensions]
Expand Down Expand Up @@ -1419,9 +1419,9 @@ version = "2.42.0+0"

[[deps.LineSearch]]
deps = ["ADTypes", "CommonSolve", "ConcreteStructs", "FastClosures", "LinearAlgebra", "MaybeInplace", "PrecompileTools", "SciMLBase", "SciMLJacobianOperators", "StaticArraysCore"]
git-tree-sha1 = "69da095e4c24ed3c4a168bb76dc9c620a6d7239c"
git-tree-sha1 = "25454bc65c3eec4656cbe201c3d9336af49178c7"
uuid = "87fe0de2-c867-4266-b59a-2f0a94fc965b"
version = "0.1.7"
version = "0.1.8"
weakdeps = ["LineSearches"]

[deps.LineSearch.extensions]
Expand Down Expand Up @@ -1587,9 +1587,9 @@ version = "0.5.16"

[[deps.MadNCL]]
deps = ["Atomix", "KernelAbstractions", "LinearAlgebra", "MadNLP", "NLPModels", "Printf", "Random", "SparseArrays"]
git-tree-sha1 = "8cdb50494fa73f9af44aabadfac51d39413a707e"
git-tree-sha1 = "cbb996d397b63f551bfbeaabfae4af5640326ab2"
uuid = "434a0bcb-5a7c-42b2-a9d3-9e3f760e7af0"
version = "0.2.1"
version = "0.2.2"
weakdeps = ["MadNLPGPU"]

[deps.MadNCL.extensions]
Expand Down Expand Up @@ -1761,9 +1761,9 @@ version = "1.3.0"

[[deps.NonlinearSolve]]
deps = ["ADTypes", "ArrayInterface", "BracketingNonlinearSolve", "CommonSolve", "ConcreteStructs", "DifferentiationInterface", "FastClosures", "FiniteDiff", "ForwardDiff", "LineSearch", "LinearAlgebra", "LinearSolve", "NonlinearSolveBase", "NonlinearSolveFirstOrder", "NonlinearSolveQuasiNewton", "NonlinearSolveSpectralMethods", "PrecompileTools", "Preferences", "Reexport", "SciMLBase", "SciMLLogging", "Setfield", "SimpleNonlinearSolve", "StaticArraysCore", "SymbolicIndexingInterface"]
git-tree-sha1 = "e88921859836899abe94d08ea0fd42137067280e"
git-tree-sha1 = "a2db21951cd1cd46a3ef8ba4bbfc84ddc9a5b3fb"
uuid = "8913a72c-1f9b-4ce2-8d82-65094dcecaec"
version = "4.17.1"
version = "4.18.0"

[deps.NonlinearSolve.extensions]
NonlinearSolveFastLevenbergMarquardtExt = "FastLevenbergMarquardt"
Expand Down Expand Up @@ -1794,9 +1794,9 @@ version = "4.17.1"

[[deps.NonlinearSolveBase]]
deps = ["ADTypes", "Adapt", "ArrayInterface", "CommonSolve", "Compat", "ConcreteStructs", "DifferentiationInterface", "EnzymeCore", "FastClosures", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "LogExpFunctions", "Markdown", "MaybeInplace", "PreallocationTools", "PrecompileTools", "Preferences", "Printf", "RecursiveArrayTools", "SciMLBase", "SciMLJacobianOperators", "SciMLLogging", "SciMLOperators", "SciMLStructures", "Setfield", "StaticArraysCore", "SymbolicIndexingInterface", "TimerOutputs"]
git-tree-sha1 = "5bd437a82d7e5eee049a1b488dedc726f0b84bd4"
git-tree-sha1 = "a19a5df29ef2b197499fc631fa1a59385ae15262"
uuid = "be0214bd-f91f-a760-ac4e-3421ce2b2da0"
version = "2.24.0"
version = "2.25.0"

[deps.NonlinearSolveBase.extensions]
NonlinearSolveBaseBandedMatricesExt = "BandedMatrices"
Expand Down Expand Up @@ -1895,12 +1895,6 @@ git-tree-sha1 = "1346c9208249809840c91b26703912dff463d335"
uuid = "efe28fd5-8261-553b-a9e1-b2916fc3738e"
version = "0.5.6+0"

[[deps.OptimalControl]]
deps = ["ADNLPModels", "CTBase", "CTDirect", "CTFlows", "CTModels", "CTParser", "CTSolvers", "CommonSolve", "DocStringExtensions", "Documenter", "ExaModels", "LinearAlgebra", "NLPModels", "RecipesBase", "Reexport", "SolverCore"]
git-tree-sha1 = "8490d74ca7e2dbff82210d08b1cf557168d497e4"
uuid = "5f98b655-cc9a-415a-b60e-744165666948"
version = "2.0.1"

[[deps.Opus_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl"]
git-tree-sha1 = "e2bb57a313a74b8104064b7efd01406c0a50d2ff"
Expand Down Expand Up @@ -1931,10 +1925,10 @@ uuid = "6ad6398a-0878-4a85-9266-38940aa047c8"
version = "1.26.0"

[[deps.OrdinaryDiffEqCore]]
deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "ConcreteStructs", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "EnzymeCore", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappersWrappers", "InteractiveUtils", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Polyester", "PrecompileTools", "Preferences", "Random", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLLogging", "SciMLOperators", "SciMLStructures", "Static", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
git-tree-sha1 = "e81202ab680b4649ea2cb63560b9e57833540cfa"
deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "ConcreteStructs", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "EnzymeCore", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappersWrappers", "InteractiveUtils", "LinearAlgebra", "Logging", "MacroTools", "MuladdMacro", "Polyester", "PrecompileTools", "Preferences", "Random", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLLogging", "SciMLOperators", "SciMLStructures", "Static", "SymbolicIndexingInterface", "TruncatedStacktraces"]
git-tree-sha1 = "2b55a12e68d2e9eb9f06c00cde116356c2d3823d"
uuid = "bbf590c4-e513-4bbe-9b18-05decba2e5d8"
version = "3.31.0"
version = "3.33.0"

[deps.OrdinaryDiffEqCore.extensions]
OrdinaryDiffEqCoreMooncakeExt = "Mooncake"
Expand Down Expand Up @@ -2088,9 +2082,9 @@ version = "1.14.0"

[[deps.OrdinaryDiffEqStabilizedRK]]
deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "RecursiveArrayTools", "Reexport", "SciMLBase", "StaticArraysCore"]
git-tree-sha1 = "bb33a312858b1e6663099f231323a78b7bb00eb3"
git-tree-sha1 = "764e11fb6a26ee8f2d2d10778d531fd708f35d28"
uuid = "358294b1-0aab-51c3-aafe-ad5ab194a2ad"
version = "1.11.0"
version = "1.11.1"

[[deps.OrdinaryDiffEqSymplecticRK]]
deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "RecursiveArrayTools", "Reexport", "SciMLBase"]
Expand All @@ -2117,9 +2111,9 @@ version = "10.44.0+1"

[[deps.Pango_jll]]
deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "FriBidi_jll", "Glib_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl"]
git-tree-sha1 = "0662b083e11420952f2e62e17eddae7fc07d5997"
git-tree-sha1 = "58e5ed5e386e156bd93e86b305ebd21ac63d2d04"
uuid = "36c8627f-9965-5494-a995-c6b170f724f3"
version = "1.57.0+0"
version = "1.57.1+0"

[[deps.Parameters]]
deps = ["OrderedCollections", "UnPack"]
Expand Down Expand Up @@ -3059,9 +3053,9 @@ version = "0.61.1+0"

[[deps.libaom_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl"]
git-tree-sha1 = "371cc681c00a3ccc3fbc5c0fb91f58ba9bec1ecf"
git-tree-sha1 = "850b06095ee71f0135d644ffd8a52850699581ed"
uuid = "a4ae2306-e953-59d6-aa16-d00cac43593b"
version = "3.13.1+0"
version = "3.13.3+0"

[[deps.libass_jll]]
deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl", "Zlib_jll"]
Expand Down Expand Up @@ -3106,9 +3100,9 @@ version = "1.28.1+0"

[[deps.libpng_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Zlib_jll"]
git-tree-sha1 = "45a20bd63e4fafc84ed9e4ac4ba15c8a7deff803"
git-tree-sha1 = "e51150d5ab85cee6fc36726850f0e627ad2e4aba"
uuid = "b53b4c65-9356-5827-b1ea-8c7a1a84506f"
version = "1.6.57+0"
version = "1.6.58+0"

[[deps.libva_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll", "Xorg_libXext_jll", "Xorg_libXfixes_jll", "libdrm_jll"]
Expand Down
4 changes: 2 additions & 2 deletions docs/src/assets/Project.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ ADNLPModels = "0.8"
CTBase = "0.18"
CTDirect = "1"
CTFlows = "0.8"
CTModels = "0.9"
CTModels = "0.10"
CTParser = "0.8"
CTSolvers = "0.4"
CUDA = "5"
Expand All @@ -53,4 +53,4 @@ NonlinearSolve = "4"
OrdinaryDiffEq = "6"
Plots = "1"
UnoSolver = "0.3"
julia = "1.10"
julia = "1.10"
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