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ocots
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Apr 5, 2026
- Update example-control-free.md documentation
- Update example-control-free.md documentation - Add private API documentation - Update docs Manifest.toml
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Breakage test results
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- Explain augmented Hamiltonian approach for control-free problems - Use CTFlows augment=true feature instead of manual H_aug construction - Add mathematical formulation with transversality conditions - Update both examples to match working scripts - Remove @meta Draft block (use global draft setting) - Use linestyle=:dash for better plot compatibility - Clarify p_lambda(t0)=0 and p_omega(t0)=0 assumptions
- Add CTFlows enhancements section in CHANGELOG.md - Document augment=true feature for automatic costate computation - Document Flow(ocp) direct creation from control-free problems - Add comprehensive CTFlows Features section in BREAKING.md - Include migration examples for augmented Hamiltonian approach - Fix linting issues (duplicate headings, list formatting) - Maintain consistent technical tone throughout documentation
- Add comprehensive augment=true section in manual-flow-ocp.md
- Replace simple example with harmonic oscillator (parameter in dynamics)
- Document mathematical background, usage, advantages, and error handling
- Use \mathrm{d} for all differentials (mathematical rigor)
- Update example-control-free.md with proper differential notation
- Update manual-differential-geometry.md with \mathrm{d} notation
- Remove @meta Draft blocks (use global draft setting)
- Restore private API documentation file
- Remove duplicate f = Flow(ocp) declarations in indirect method sections - Flow objects are already created earlier in the examples - Clean up code duplication while maintaining functionality
- Add 4 new testsets for Flow(ocp) and augment=true functionality - Test Flow from Control-Free OCP: verify callable and return types - Test augment=true: verify 3-value return (state, costate, variable costate) - Test Manual vs Automatic Hamiltonian: compare manual H_aug vs Flow(ocp) - Test Analytical Solution Check: simple λ=0 constant solution case - Add using OrdinaryDiffEq dependency for Flow functionality - Fix applicable() test instead of isa Function for OptimalControlFlow objects - All tests pass (98/98) with proper signature freezing
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