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‎.gitignore‎

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@@ -42,6 +42,6 @@ Manifest.toml
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#
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.tmp/
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.extras/
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.save/
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#.save/
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.windsurf/
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.reports/

‎.save/docs/Project.toml‎

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[deps]
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ADNLPModels = "54578032-b7ea-4c30-94aa-7cbd1cce6c9a"
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CTBase = "54762871-cc72-4466-b8e8-f6c8b58076cd"
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CTDirect = "790bbbee-bee9-49ee-8912-a9de031322d5"
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CTFlows = "1c39547c-7794-42f7-af83-d98194f657c2"
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CTModels = "34c4fa32-2049-4079-8329-de33c2a22e2d"
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CTParser = "32681960-a1b1-40db-9bff-a1ca817385d1"
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CommonSolve = "38540f10-b2f7-11e9-35d8-d573e4eb0ff2"
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DataFrames = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
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DifferentiationInterface = "a0c0ee7d-e4b9-4e03-894e-1c5f64a51d63"
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Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
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DocumenterInterLinks = "d12716ef-a0f6-4df4-a9f1-a5a34e75c656"
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DocumenterMermaid = "a078cd44-4d9c-4618-b545-3ab9d77f9177"
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ExaModels = "1037b233-b668-4ce9-9b63-f9f681f55dd2"
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ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
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JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
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JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
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LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
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MINPACK = "4854310b-de5a-5eb6-a2a5-c1dee2bd17f9"
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MadNLP = "2621e9c9-9eb4-46b1-8089-e8c72242dfb6"
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MadNLPMumps = "3b83494e-c0a4-4895-918b-9157a7a085a1"
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NLPModelsIpopt = "f4238b75-b362-5c4c-b852-0801c9a21d71"
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NLPModelsKnitro = "bec4dd0d-7755-52d5-9a02-22f0ffc7efcb"
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NonlinearSolve = "8913a72c-1f9b-4ce2-8d82-65094dcecaec"
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OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
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Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
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Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb"
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[compat]
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ADNLPModels = "0.8"
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CTBase = "0.18"
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CTDirect = "1"
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CTFlows = "0.8"
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CTModels = "0.8"
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CTParser = "0.8"
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CTSolver = "0.2"
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CommonSolve = "0.2"
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DataFrames = "1"
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DifferentiationInterface = "0.7"
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Documenter = "1"
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DocumenterInterLinks = "1"
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DocumenterMermaid = "0.2"
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ExaModels = "0.9"
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ForwardDiff = "0.10, 1"
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JLD2 = "0.6"
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JSON3 = "1"
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LinearAlgebra = "1"
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MINPACK = "1"
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MadNLP = "0.8"
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MadNLPMumps = "0.5"
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NLPModelsIpopt = "0.11"
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NLPModelsKnitro = "0.9"
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NonlinearSolve = "4"
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OrdinaryDiffEq = "6"
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Plots = "1"
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Suppressor = "0.2"
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julia = "1.10"

‎.save/docs/make.jl‎

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using Documenter
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using DocumenterMermaid
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using OptimalControl
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using CTBase
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using CTDirect
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using CTFlows
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using CTModels
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using CTParser
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using Plots
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using CommonSolve
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using OrdinaryDiffEq
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using DocumenterInterLinks
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using ADNLPModels
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using ExaModels
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using NLPModelsIpopt
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using MadNLP
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using MadNLPMumps
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using JSON3
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using JLD2
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using NLPModelsKnitro
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#
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links = InterLinks(
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"CTBase" => (
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"https://control-toolbox.org/CTBase.jl/stable/",
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"https://control-toolbox.org/CTBase.jl/stable/objects.inv",
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joinpath(@__DIR__, "inventories", "CTBase.toml"),
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),
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"CTDirect" => (
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"https://control-toolbox.org/CTDirect.jl/stable/",
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"https://control-toolbox.org/CTDirect.jl/stable/objects.inv",
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joinpath(@__DIR__, "inventories", "CTDirect.toml"),
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),
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"CTFlows" => (
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"https://control-toolbox.org/CTFlows.jl/stable/",
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"https://control-toolbox.org/CTFlows.jl/stable/objects.inv",
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joinpath(@__DIR__, "inventories", "CTFlows.toml"),
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),
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"CTModels" => (
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"https://control-toolbox.org/CTModels.jl/stable/",
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"https://control-toolbox.org/CTModels.jl/stable/objects.inv",
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joinpath(@__DIR__, "inventories", "CTModels.toml"),
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),
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"CTParser" => (
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"https://control-toolbox.org/CTParser.jl/stable/",
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"https://control-toolbox.org/CTParser.jl/stable/objects.inv",
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joinpath(@__DIR__, "inventories", "CTParser.toml"),
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),
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"ADNLPModels" => (
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"https://jso.dev/ADNLPModels.jl/stable/",
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"https://jso.dev/ADNLPModels.jl/stable/objects.inv",
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joinpath(@__DIR__, "inventories", "ADNLPModels.toml"),
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),
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"NLPModelsIpopt" => (
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"https://jso.dev/NLPModelsIpopt.jl/stable/",
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"https://jso.dev/NLPModelsIpopt.jl/stable/objects.inv",
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joinpath(@__DIR__, "inventories", "NLPModelsIpopt.toml"),
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),
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"ExaModels" => (
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"https://exanauts.github.io/ExaModels.jl/stable/",
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"https://exanauts.github.io/ExaModels.jl/stable/objects.inv",
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joinpath(@__DIR__, "inventories", "ExaModels.toml"),
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),
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"MadNLP" => (
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"https://madnlp.github.io/MadNLP.jl/stable/",
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"https://madnlp.github.io/MadNLP.jl/stable/objects.inv",
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joinpath(@__DIR__, "inventories", "MadNLP.toml"),
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),
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"Tutorials" => (
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"https://control-toolbox.org/Tutorials.jl/stable/",
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"https://control-toolbox.org/Tutorials.jl/stable/objects.inv",
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joinpath(@__DIR__, "inventories", "Tutorials.toml"),
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),
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)
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# to add docstrings from external packages
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const CTFlowsODE = Base.get_extension(CTFlows, :CTFlowsODE)
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const CTModelsPlots = Base.get_extension(CTModels, :CTModelsPlots)
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const CTModelsJSON = Base.get_extension(CTModels, :CTModelsJSON)
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const CTModelsJLD = Base.get_extension(CTModels, :CTModelsJLD)
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const CTDirectExtIpopt = Base.get_extension(CTDirect, :CTDirectExtIpopt)
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const CTDirectExtKnitro = Base.get_extension(CTDirect, :CTDirectExtKnitro)
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const CTDirectExtMadNLP = Base.get_extension(CTDirect, :CTDirectExtMadNLP)
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const CTDirectExtADNLP = Base.get_extension(CTDirect, :CTDirectExtADNLP)
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const CTDirectExtExa = Base.get_extension(CTDirect, :CTDirectExtExa)
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Modules = [
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CTBase,
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CTFlows,
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CTDirect,
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CTModels,
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CTParser,
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OptimalControl,
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CTFlowsODE,
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CTModelsPlots,
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CTModelsJSON,
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CTModelsJLD,
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CTDirectExtIpopt,
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CTDirectExtKnitro,
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CTDirectExtMadNLP,
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CTDirectExtADNLP,
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CTDirectExtExa,
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]
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for Module in Modules
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isnothing(DocMeta.getdocmeta(Module, :DocTestSetup)) &&
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DocMeta.setdocmeta!(Module, :DocTestSetup, :(using $Module); recursive=true)
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end
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# For reproducibility
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mkpath(joinpath(@__DIR__, "src", "assets"))
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cp(
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joinpath(@__DIR__, "Manifest.toml"),
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joinpath(@__DIR__, "src", "assets", "Manifest.toml");
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force=true,
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)
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cp(
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joinpath(@__DIR__, "Project.toml"),
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joinpath(@__DIR__, "src", "assets", "Project.toml");
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force=true,
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)
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repo_url = "github.com/control-toolbox/OptimalControl.jl"
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# if draft is true, then the julia code from .md is not executed
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# to disable the draft mode in a specific markdown file, use the following:
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#=
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```@meta
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Draft = false
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```
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=#
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makedocs(;
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draft=false, # debug
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sitename="OptimalControl.jl",
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format=Documenter.HTML(;
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repolink="https://" * repo_url,
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prettyurls=false,
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size_threshold_ignore=[
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"api-optimalcontrol-user.md", "example-double-integrator-energy.md"
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],
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assets=[
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asset("https://control-toolbox.org/assets/css/documentation.css"),
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asset("https://control-toolbox.org/assets/js/documentation.js"),
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"assets/custom.css",
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],
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),
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pages=[
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"Getting Started" => "index.md",
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"Basic Examples" => [
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"Energy minimisation" => "example-double-integrator-energy.md",
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"Time mininimisation" => "example-double-integrator-time.md",
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],
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"Manual" => [
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"Define a problem" => "manual-abstract.md",
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"Use AI" => "manual-ai-llm.md",
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"Problem characteristics" => "manual-model.md",
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"Set an initial guess" => "manual-initial-guess.md",
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"Solve a problem" => "manual-solve.md",
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"Solve on GPU" => "manual-solve-gpu.md",
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"Solution characteristics" => "manual-solution.md",
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"Plot a solution" => "manual-plot.md",
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"Compute flows" => [
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"Flow API" => "manual-flow-api.md",
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"From optimal control problems" => "manual-flow-ocp.md",
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"From Hamiltonians and others" => "manual-flow-others.md",
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],
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],
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"API" => [
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"OptimalControl.jl - User" => "api-optimalcontrol-user.md",
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"Subpackages - Developers" => [
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"CTBase.jl" => "api-ctbase.md",
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"CTDirect.jl" => "api-ctdirect.md",
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"CTFlows.jl" => "api-ctflows.md",
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"CTModels.jl" => "api-ctmodels.md",
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"CTParser.jl" => "api-ctparser.md",
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"OptimalControl.jl" => "api-optimalcontrol-dev.md",
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],
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],
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"RDNOPA 2025" => "rdnopa-2025.md",
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],
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plugins=[links],
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)
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deploydocs(; repo=repo_url * ".git", devbranch="main", push_preview=true)
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# push_preview: use https://control-toolbox.org/OptimalControl.jl/previews/PRXXX where XXX is the pull request number

‎.save/docs/src/api-ctbase.md‎

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# CTBase.jl
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```@meta
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CollapsedDocStrings = false
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```
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The [CTBase.jl](https://github.com/control-toolbox/CTBase.jl/) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
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```mermaid
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flowchart TD
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B(<a href='api-ctbase.html'>CTBase</a>)
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M(<a href='api-ctmodels.html'>CTModels</a>)
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P(<a href='api-ctparser.html'>CTParser</a>)
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O(<a href='api-optimalcontrol-dev.html'>OptimalControl</a>)
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D(<a href='api-ctdirect.html'>CTDirect</a>)
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F(<a href='api-ctflows.html'>CTFlows</a>)
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O --> D
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O --> M
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O --> F
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O --> P
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F --> M
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O --> B
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F --> B
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D --> B
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D --> M
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P --> M
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P --> B
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M --> B
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style B fill:#FBF275
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```
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OptimalControl heavily relies on CTBase. We refer to [CTBase API](@extref CTBase index) for more details.

‎.save/docs/src/api-ctdirect.md‎

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# CTDirect.jl
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```@meta
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CollapsedDocStrings = false
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```
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The [CTDirect.jl](https://github.com/control-toolbox/CTDirect.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
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```mermaid
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flowchart TD
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B(<a href='api-ctbase.html'>CTBase</a>)
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M(<a href='api-ctmodels.html'>CTModels</a>)
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P(<a href='api-ctparser.html'>CTParser</a>)
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O(<a href='api-optimalcontrol-dev.html'>OptimalControl</a>)
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D(<a href='api-ctdirect.html'>CTDirect</a>)
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F(<a href='api-ctflows.html'>CTFlows</a>)
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O --> D
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O --> M
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O --> F
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O --> P
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F --> M
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O --> B
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F --> B
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D --> B
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D --> M
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P --> M
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P --> B
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M --> B
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style D fill:#FBF275
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```
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OptimalControl heavily relies on CTDirect. We refer to [CTDirect API](@extref CTDirect index) for more details.

‎.save/docs/src/api-ctflows.md‎

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# CTFlows.jl
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```@meta
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CollapsedDocStrings = false
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```
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The [CTFlows.jl](https://github.com/control-toolbox/CTFlows.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
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```mermaid
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flowchart TD
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B(<a href='api-ctbase.html'>CTBase</a>)
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M(<a href='api-ctmodels.html'>CTModels</a>)
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P(<a href='api-ctparser.html'>CTParser</a>)
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O(<a href='api-optimalcontrol-dev.html'>OptimalControl</a>)
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D(<a href='api-ctdirect.html'>CTDirect</a>)
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F(<a href='api-ctflows.html'>CTFlows</a>)
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O --> D
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O --> M
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O --> F
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O --> P
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F --> M
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O --> B
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F --> B
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D --> B
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D --> M
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P --> M
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P --> B
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M --> B
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style F fill:#FBF275
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```
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OptimalControl heavily relies on CTFlows. We refer to [CTFlows API](@extref CTFlows index) for more details.

‎.save/docs/src/api-ctmodels.md‎

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# CTModels.jl
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```@meta
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CollapsedDocStrings = false
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```
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The [CTModels.jl](https://github.com/control-toolbox/CTModels.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
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```mermaid
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flowchart TD
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B(<a href='api-ctbase.html'>CTBase</a>)
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M(<a href='api-ctmodels.html'>CTModels</a>)
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P(<a href='api-ctparser.html'>CTParser</a>)
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O(<a href='api-optimalcontrol-dev.html'>OptimalControl</a>)
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D(<a href='api-ctdirect.html'>CTDirect</a>)
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F(<a href='api-ctflows.html'>CTFlows</a>)
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O --> D
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O --> M
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O --> F
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O --> P
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F --> M
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O --> B
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F --> B
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D --> B
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D --> M
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P --> M
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P --> B
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M --> B
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style M fill:#FBF275
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```
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OptimalControl heavily relies on CTModels. We refer to [CTModels API](@extref CTModels index) for more details.

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