feat: ComposedHamiltonian and pseudo_variable_gradient AD contract#474
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Add ComposedHamiltonian — a functor that composes a PseudoHamiltonian with a DynClosedLoop control law, yielding H(t,x,p,v) = H̃(t,x,p,u(t,x,p,v),v). Trait joins (NonAutonomous/NonFixed win) are computed at construction time. Add pseudo_variable_gradient — the pseudo-Hamiltonian analogue of variable_gradient, computing ∂H̃/∂v with the control u held constant (partial derivative). Includes the NotImplemented stub in abstract_ad_backend.jl and the DifferentiationInterface extension method. New files: - src/Data/composed_hamiltonian.jl - test/suite/data/test_composed_hamiltonian.jl - test/suite/differentiation/test_pseudo_variable_gradient.jl
Update CHANGELOGS.md and BREAKINGS.md with ComposedHamiltonian and pseudo_variable_gradient entries.
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Summary
This PR adds two new features:
ComposedHamiltonian
A new ComposedHamiltonian type in Data that composes a PseudoHamiltonian with a DynClosedLoop control law: H(t,x,p,v) = H̃(t,x,p,u(t,x,p,v),v).
pseudo_variable_gradient
The pseudo-Hamiltonian analogue of variable_gradient, computing ∂H̃/∂v with control u held constant (partial derivative).
New files
Modified files