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Adapt to CTModels v0.7.x#539

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PierreMartinon merged 55 commits intodevelopfrom
breaking/ctmodels-0.7
Feb 11, 2026
Merged

Adapt to CTModels v0.7.x#539
PierreMartinon merged 55 commits intodevelopfrom
breaking/ctmodels-0.7

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@ocots ocots commented Jan 19, 2026 •
edited by PierreMartinon
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Summary

This PR adapts CTDirect to work with CTModels v0.7.x. / CTSolvers v0.2.x
Since the changes to CTDirect are quite significant, this will be v1.0.0-beta

Related to:

Changes

Code Adaptation

  • Adapted code to work with CTModels v0.7.x / CTSolvers v0.2.x API

Project.toml

  • Version bump: 0.17.5-beta → 1.0.0-beta
  • CTModels compat widened: "0.6" → "0.6, 0.7"

Testing

  • Ipopt solver
  • MadNLP solver
  • ADNLP modeler
  • ExaModels modeler (CPU)
  • GPU case: ExaModels + MadNLPGPU
  • discretization options: schemes, time grid (size, non uniform)
  • basic solver options: tol, maxiter
  • basic initial guess options: constant, functional, interpolations
  • advanced initial guess: warm start and continuation, init macro
  • advanced options: manual sparsity patterns for ADNLP

Migration Context

This is Phase 3 of the CTModels breaking change migration:

  1. ✅ Phase 1: CTFlows widening (compatible)
  2. ✅ Phase 2: CTModels v0.7.0-beta release
  3. �� Phase 3: CTDirect adaptation (this PR)
  4. ⏳ Phase 3.5: CTSolvers beta release
  5. ⏳ Phase 4: OptimalControl adaptation
  6. ⏳ Phase 5: Stabilization

Checklist

  • All checks passing, including GPU and doc
  • Project.toml: version 1.0.0-beta
    compat CTBase 0.18, CTModels 0.8, CTParser 0.8, CTSolvers 0.2
  • Ready for registration in ct-registry

Next Steps

After merging:

  1. Register CTDirect v1.0.0-beta in ct-registry
  2. Create tag v1.0.0-beta
  3. Verify breakage tests on CTModels.jl#248
  4. Proceed to Phase 3.5 (CTSolvers)

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github-actions bot commented Jan 19, 2026 •
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Breakage test results
Date: 2026-02-10 18:12:05

Name Latest Stable
OptimalControl compat: v0.17.5-beta compat: v0.17.5-beta

ocots and others added 5 commits January 19, 2026 10:17
@ocots
Refactor: restructure discretization architecture
a46663f 
- Remove extension files (ADNLP, Exa, Ipopt, Knitro, MadNLP)
- Add new discretization API and core types
- Implement collocation method in separate module
- Update main module structure and solve interface
- Modify Project.toml dependencies
@ocots
Migrating interfacing code from CTSolvers to CTDirect
3e885ef
@PierreMartinon
resync with previous branch ctsolvers (removing lagrange_to_mayer tra…
fd657cd 
…nsformation)
@PierreMartinon
packahe compilation and unit tests (no solving) ok
c1b236c
@PierreMartinon
add new solve test
a27c428
@PierreMartinon
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PierreMartinon commented Jan 20, 2026 •
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Notes:

  • due to the major changes in CTDirect, this will be the start of 1.x versions
  • the SolverInfos function is NLP solver dependent and should be moved to CTModels extensions. It is needed in CTDirect when building the solution. For now I have in CTDirect the basic version that works for Ipopt. The former version for MadNLP can be found in https://github.com/control-toolbox/CTDirect.jl/blob/main/ext/CTDirectExtMadNLP.jl

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ocots commented Jan 22, 2026

@PierreMartinon I have created a new beta version of CTModels with SolverInfos renamed to CTModels.extract_solver_infos, cf.

https://github.com/control-toolbox/CTModels.jl/blob/b8338cc5212270f4dbc0fa28540622495d690a5c/src/nlp/extract_solver_infos.jl#L47-L57

and

https://github.com/control-toolbox/CTModels.jl/blob/b8338cc5212270f4dbc0fa28540622495d690a5c/ext/CTModelsMadNLP.jl#L49-L68

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PierreMartinon commented Jan 26, 2026

@PierreMartinon I have created a new beta version of CTModels with SolverInfos renamed to CTModels.extract_solver_infos, cf.

control-toolbox/CTModels.jl@b8338cc/src/nlp/extract_solver_infos.jl#L47-L57

and

control-toolbox/CTModels.jl@b8338cc/ext/CTModelsMadNLP.jl#L49-L68

Hi Olivier,
Thanks, can you remove the nlp solver passed as second argument ?
Cf version in the current breaking branch

CTDirect.jl/src/solution.jl

Line 31 in 82923ff

function SolverInfos(nlp_solution::SolverCore.AbstractExecutionStats)

@ocots ocots changed the base branch from main to develop February 10, 2026 16:19
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ocots commented Feb 10, 2026

@PierreMartinon J'ai crée une branche develop pour que tu ne pollues pas ta branche main et pour que cette dernière reste toujours fonctionnelle et associée à une release sur le registre général.

Du coup j'ai remplacé pour cette PR, la destination, de main à develop.

De plus, je vais te changer un truc pour faire fonctionner la documentation aussi au niveau de la CI.

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jbcaillau commented Feb 10, 2026

@PierreMartinon 🔥 pour la beta.

NB. @ocots a détecté un pb de gestion des compats dans le registre local pour le versioning x.y.z-beta.t (voir GunnarFarneback/LocalRegistry.jl#100) du coup, on se limite à faire du x.y.z-beta (puis du x.y.z+1-beta, etc. jusqu'à x.y.z qui est considérée plus fraîche, comme attendu). les beta sont uniquement sur le reg. local (intersection vide avec général) pas de souci pour faire ensuite une release avec z non séquentiels sur le général, genre 1.2.3 -> 1.2.7 (avec 1.2.4-beta, 1.2.5-beta et 1.2.6-beta uniquement sur le reg. local)

@PierreMartinon PierreMartinon merged commit 3ba8e3a into develop Feb 11, 2026
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@PierreMartinon PierreMartinon deleted the breaking/ctmodels-0.7 branch February 11, 2026 13:22
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