CompatHelper: bump compat for CTDirect to 0.17, (drop existing compat)

Project.toml

@@ -17,7 +17,7 @@ ExaModels = "1037b233-b668-4ce9-9b63-f9f681f55dd2"
 [compat]
 ADNLPModels = "0.8"
 CTBase = "0.16"
-CTDirect = "0.16"
+CTDirect = "0.17"
 CTFlows = "0.8"
 CTModels = "0.6"
 CTParser = "0.6"

docs/Project.toml

@@ -18,17 +18,19 @@ JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MINPACK = "4854310b-de5a-5eb6-a2a5-c1dee2bd17f9"
 MadNLP = "2621e9c9-9eb4-46b1-8089-e8c72242dfb6"
+MadNLPMumps = "3b83494e-c0a4-4895-918b-9157a7a085a1"
 NLPModelsIpopt = "f4238b75-b362-5c4c-b852-0801c9a21d71"
 NLPModelsKnitro = "bec4dd0d-7755-52d5-9a02-22f0ffc7efcb"
 NonlinearSolve = "8913a72c-1f9b-4ce2-8d82-65094dcecaec"
+OptimalControl = "5f98b655-cc9a-415a-b60e-744165666948"
 OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb"
 
 [compat]
 ADNLPModels = "0.8"
 CTBase = "0.16"
-CTDirect = "0.16"
+CTDirect = "0.17"
 CTFlows = "0.8"
 CTModels = "0.6"
 CTParser = "0.6"
@@ -45,6 +47,7 @@ JSON3 = "1"
 LinearAlgebra = "1"
 MINPACK = "1"
 MadNLP = "0.8"
+MadNLPMumps = "0.5"
 NLPModelsIpopt = "0.10"
 NLPModelsKnitro = "0.9"
 NonlinearSolve = "4"

docs/make.jl

@@ -14,6 +14,7 @@ using ADNLPModels
 using ExaModels
 using NLPModelsIpopt
 using MadNLP
+using MadNLPMumps
 using JSON3
 using JLD2
 using NLPModelsKnitro

docs/src/api-optimalcontrol-user.md

@@ -79,9 +79,10 @@ iterations
 lagrange
 mayer
 message
-model
+nlp_model
 objective(::Model)
 objective(::Solution)
+ocp_model
 plot(::Solution, ::Symbol...)
 plot!(::Plots.Plot, ::Solution, ::Symbol...)
 set_initial_guess

docs/src/assets/Manifest.toml

@@ -1,8 +1,8 @@
 # This file is machine-generated - editing it directly is not advised
 
-julia_version = "1.11.6"
+julia_version = "1.11.7"
 manifest_format = "2.0"
-project_hash = "d85860944015e6f7ddca5a8e43d05b3241746587"
+project_hash = "065c5ff164fc1623d5f59149cbffa347e8e4b04a"
 
 [[deps.ADNLPModels]]
 deps = ["ADTypes", "ForwardDiff", "LinearAlgebra", "NLPModels", "Requires", "ReverseDiff", "SparseArrays", "SparseConnectivityTracer", "SparseMatrixColorings"]
@@ -11,9 +11,9 @@ uuid = "54578032-b7ea-4c30-94aa-7cbd1cce6c9a"
 version = "0.8.13"
 
 [[deps.ADTypes]]
-git-tree-sha1 = "60665b326b75db6517939d0e1875850bc4a54368"
+git-tree-sha1 = "27cecae79e5cc9935255f90c53bb831cc3c870d7"
 uuid = "47edcb42-4c32-4615-8424-f2b9edc5f35b"
-version = "1.17.0"
+version = "1.18.0"
 weakdeps = ["ChainRulesCore", "ConstructionBase", "EnzymeCore"]
 
     [deps.ADTypes.extensions]
@@ -192,17 +192,17 @@ weakdeps = ["HTTP", "JSON"]
 
 [[deps.CTDirect]]
 deps = ["CTBase", "CTModels", "DocStringExtensions", "HSL", "MKL", "SparseArrays"]
-git-tree-sha1 = "1b3aa9b9b9bbb32b90bed66d16998fcb89848c21"
+git-tree-sha1 = "f322eda5d72a1fff0a2351ec3cfa215b116f4e1d"
 uuid = "790bbbee-bee9-49ee-8912-a9de031322d5"
-version = "0.16.3"
-weakdeps = ["ADNLPModels", "ExaModels", "MadNLP", "NLPModelsIpopt", "NLPModelsKnitro"]
+version = "0.17.0"
+weakdeps = ["ADNLPModels", "ExaModels", "MadNLPMumps", "NLPModelsIpopt", "NLPModelsKnitro"]
 
     [deps.CTDirect.extensions]
     CTDirectExtADNLP = ["ADNLPModels"]
     CTDirectExtExa = ["ExaModels"]
     CTDirectExtIpopt = ["NLPModelsIpopt"]
     CTDirectExtKnitro = ["NLPModelsKnitro"]
-    CTDirectExtMadNLP = ["MadNLP"]
+    CTDirectExtMadNLP = ["MadNLPMumps"]
 
 [[deps.CTFlows]]
 deps = ["CTBase", "CTModels", "DocStringExtensions", "ForwardDiff", "LinearAlgebra", "MLStyle", "MacroTools"]
@@ -216,9 +216,9 @@ weakdeps = ["OrdinaryDiffEq"]
 
 [[deps.CTModels]]
 deps = ["CTBase", "DocStringExtensions", "Interpolations", "LinearAlgebra", "MLStyle", "MacroTools", "OrderedCollections", "Parameters", "RecipesBase"]
-git-tree-sha1 = "13ff06553d6396590c0b09c9b9a5e0dee058af92"
+git-tree-sha1 = "5dd30f45b055084374b2613cb4c79e73420962f0"
 uuid = "34c4fa32-2049-4079-8329-de33c2a22e2d"
-version = "0.6.6"
+version = "0.6.7"
 weakdeps = ["JLD2", "JSON3", "Plots"]
 
     [deps.CTModels.extensions]
@@ -279,9 +279,9 @@ version = "0.7.8"
 
 [[deps.ColorSchemes]]
 deps = ["ColorTypes", "ColorVectorSpace", "Colors", "FixedPointNumbers", "PrecompileTools", "Random"]
-git-tree-sha1 = "a656525c8b46aa6a1c76891552ed5381bb32ae7b"
+git-tree-sha1 = "b0fd3f56fa442f81e0a47815c92245acfaaa4e34"
 uuid = "35d6a980-a343-548e-a6ea-1d62b119f2f4"
-version = "3.30.0"
+version = "3.31.0"
 
 [[deps.ColorTypes]]
 deps = ["FixedPointNumbers", "Random"]
@@ -432,9 +432,9 @@ version = "1.9.1"
 
 [[deps.DiffEqBase]]
 deps = ["ArrayInterface", "ConcreteStructs", "DocStringExtensions", "EnzymeCore", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "Setfield", "Static", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "TruncatedStacktraces"]
-git-tree-sha1 = "6df3b15d504315ec306118aed14f9d7af9f83db1"
+git-tree-sha1 = "087632db966c90079a5534e4147afea9136ca39a"
 uuid = "2b5f629d-d688-5b77-993f-72d75c75574e"
-version = "6.189.1"
+version = "6.190.2"
 
     [deps.DiffEqBase.extensions]
     DiffEqBaseCUDAExt = "CUDA"
@@ -1062,22 +1062,28 @@ uuid = "aacddb02-875f-59d6-b918-886e6ef4fbf8"
 version = "3.1.3+0"
 
 [[deps.KNITRO]]
-deps = ["Libdl"]
-git-tree-sha1 = "bf1206793806e01fde387c6694acf14317a3bc67"
+deps = ["KNITRO_jll", "Libdl"]
+git-tree-sha1 = "c909d83df7210d35fc9e18085752ab227eb1f130"
 uuid = "67920dd8-b58e-52a8-8622-53c4cffbe346"
-version = "0.14.8"
+version = "0.14.9"
 
     [deps.KNITRO.extensions]
     KNITROMathOptInterfaceExt = ["MathOptInterface"]
 
     [deps.KNITRO.weakdeps]
     MathOptInterface = "b8f27783-ece8-5eb3-8dc8-9495eed66fee"
 
+[[deps.KNITRO_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "bdf7d90222a1624de37928c5847425194bf9c8ff"
+uuid = "0e6b36f8-8e90-4eb5-b54e-06f667ea875c"
+version = "15.0.1"
+
 [[deps.Krylov]]
 deps = ["LinearAlgebra", "Printf", "SparseArrays"]
-git-tree-sha1 = "b94257a1a8737099ca40bc7271a8b374033473ed"
+git-tree-sha1 = "d1fc961038207e43982851e57ee257adc37be5e8"
 uuid = "ba0b0d4f-ebba-5204-a429-3ac8c609bfb7"
-version = "0.10.1"
+version = "0.10.2"
 
 [[deps.LAME_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl"]
@@ -1145,9 +1151,9 @@ version = "1.3.0"
 
 [[deps.LazyArrays]]
 deps = ["ArrayLayouts", "FillArrays", "LinearAlgebra", "MacroTools", "SparseArrays"]
-git-tree-sha1 = "76627adb8c542c6b73f68d4bfd0aa71c9893a079"
+git-tree-sha1 = "21057b6f4f5db1475e653735fda7d1de1c267b46"
 uuid = "5078a376-72f3-5289-bfd5-ec5146d43c02"
-version = "2.6.2"
+version = "2.6.3"
 
     [deps.LazyArrays.extensions]
     LazyArraysBandedMatricesExt = "BandedMatrices"
@@ -1276,9 +1282,9 @@ version = "2.11.0"
 
 [[deps.LinearSolve]]
 deps = ["ArrayInterface", "ChainRulesCore", "ConcreteStructs", "DocStringExtensions", "EnumX", "GPUArraysCore", "InteractiveUtils", "Krylov", "LazyArrays", "Libdl", "LinearAlgebra", "MKL_jll", "Markdown", "OpenBLAS_jll", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "Setfield", "StaticArraysCore", "UnPack"]
-git-tree-sha1 = "69cee52e516c859e64adba702ac382c0498a4e29"
+git-tree-sha1 = "e479c96c20e3fe6067d7ee6618839236d156f060"
 uuid = "7ed4a6bd-45f5-4d41-b270-4a48e9bafcae"
-version = "3.40.0"
+version = "3.40.1"
 
     [deps.LinearSolve.extensions]
     LinearSolveAMDGPUExt = "AMDGPU"
@@ -1405,6 +1411,12 @@ version = "0.8.12"
     [deps.MadNLP.weakdeps]
     MathOptInterface = "b8f27783-ece8-5eb3-8dc8-9495eed66fee"
 
+[[deps.MadNLPMumps]]
+deps = ["LinearAlgebra", "MUMPS_seq_jll", "MadNLP", "OpenBLAS32_jll"]
+git-tree-sha1 = "83931ffc69f54e3c2376e751c6bfe5f4eef7d15b"
+uuid = "3b83494e-c0a4-4895-918b-9157a7a085a1"
+version = "0.5.1"
+
 [[deps.ManualMemory]]
 git-tree-sha1 = "bcaef4fc7a0cfe2cba636d84cda54b5e4e4ca3cd"
 uuid = "d125e4d3-2237-4719-b19c-fa641b8a4667"
@@ -1513,10 +1525,10 @@ uuid = "ca575930-c2e3-43a9-ace4-1e988b2c1908"
 version = "1.2.0"
 
 [[deps.NonlinearSolve]]
-deps = ["ADTypes", "ArrayInterface", "BracketingNonlinearSolve", "CommonSolve", "ConcreteStructs", "DiffEqBase", "DifferentiationInterface", "FastClosures", "FiniteDiff", "ForwardDiff", "LineSearch", "LinearAlgebra", "LinearSolve", "NonlinearSolveBase", "NonlinearSolveFirstOrder", "NonlinearSolveQuasiNewton", "NonlinearSolveSpectralMethods", "PrecompileTools", "Preferences", "Reexport", "SciMLBase", "SimpleNonlinearSolve", "SparseArrays", "SparseMatrixColorings", "StaticArraysCore", "SymbolicIndexingInterface"]
-git-tree-sha1 = "d2ec18c1e4eccbb70b64be2435fc3b06fbcdc0a1"
+deps = ["ADTypes", "ArrayInterface", "BracketingNonlinearSolve", "CommonSolve", "ConcreteStructs", "DifferentiationInterface", "FastClosures", "FiniteDiff", "ForwardDiff", "LineSearch", "LinearAlgebra", "LinearSolve", "NonlinearSolveBase", "NonlinearSolveFirstOrder", "NonlinearSolveQuasiNewton", "NonlinearSolveSpectralMethods", "PrecompileTools", "Preferences", "Reexport", "SciMLBase", "SimpleNonlinearSolve", "StaticArraysCore", "SymbolicIndexingInterface"]
+git-tree-sha1 = "627967f6e36aac9f5afb2fb285e33b676a6892f9"
 uuid = "8913a72c-1f9b-4ce2-8d82-65094dcecaec"
-version = "4.10.0"
+version = "4.11.0"
 
     [deps.NonlinearSolve.extensions]
     NonlinearSolveFastLevenbergMarquardtExt = "FastLevenbergMarquardt"
@@ -1525,7 +1537,7 @@ version = "4.10.0"
     NonlinearSolveMINPACKExt = "MINPACK"
     NonlinearSolveNLSolversExt = "NLSolvers"
     NonlinearSolveNLsolveExt = ["NLsolve", "LineSearches"]
-    NonlinearSolvePETScExt = ["PETSc", "MPI"]
+    NonlinearSolvePETScExt = ["PETSc", "MPI", "SparseArrays"]
     NonlinearSolveSIAMFANLEquationsExt = "SIAMFANLEquations"
     NonlinearSolveSpeedMappingExt = "SpeedMapping"
     NonlinearSolveSundialsExt = "Sundials"
@@ -1541,14 +1553,15 @@ version = "4.10.0"
     NLsolve = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
     PETSc = "ace2c81b-2b5f-4b1e-a30d-d662738edfe0"
     SIAMFANLEquations = "084e46ad-d928-497d-ad5e-07fa361a48c4"
+    SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
     SpeedMapping = "f1835b91-879b-4a3f-a438-e4baacf14412"
     Sundials = "c3572dad-4567-51f8-b174-8c6c989267f4"
 
 [[deps.NonlinearSolveBase]]
 deps = ["ADTypes", "Adapt", "ArrayInterface", "CommonSolve", "Compat", "ConcreteStructs", "DifferentiationInterface", "EnzymeCore", "FastClosures", "LinearAlgebra", "Markdown", "MaybeInplace", "Preferences", "Printf", "RecursiveArrayTools", "SciMLBase", "SciMLJacobianOperators", "SciMLOperators", "SciMLStructures", "Setfield", "StaticArraysCore", "SymbolicIndexingInterface", "TimerOutputs"]
-git-tree-sha1 = "99a400f7ad42e56431c76f3eadee0755f2123fda"
+git-tree-sha1 = "f05e5f3d0f280598ecdc26b06ec9acd71dcaef31"
 uuid = "be0214bd-f91f-a760-ac4e-3421ce2b2da0"
-version = "1.15.0"
+version = "1.16.1"
 
     [deps.NonlinearSolveBase.extensions]
     NonlinearSolveBaseBandedMatricesExt = "BandedMatrices"
@@ -1635,9 +1648,9 @@ version = "0.8.5+0"
 
 [[deps.OpenSSH_jll]]
 deps = ["Artifacts", "JLLWrappers", "Libdl", "OpenSSL_jll", "Zlib_jll"]
-git-tree-sha1 = "cb7acd5d10aff809b4d0191dfe1956c2edf35800"
+git-tree-sha1 = "1f2f0911e1c02f28a390bb720f97f3349c4dcefb"
 uuid = "9bd350c2-7e96-507f-8002-3f2e150b4e1b"
-version = "10.0.1+0"
+version = "10.0.2+0"
 
 [[deps.OpenSSL]]
 deps = ["BitFlags", "Dates", "MozillaCACerts_jll", "OpenSSL_jll", "Sockets"]
@@ -1826,9 +1839,9 @@ version = "1.5.0"
 
 [[deps.OrdinaryDiffEqRosenbrock]]
 deps = ["ADTypes", "DiffEqBase", "DifferentiationInterface", "FastBroadcast", "FiniteDiff", "ForwardDiff", "LinearAlgebra", "LinearSolve", "MacroTools", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "Polyester", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "Static"]
-git-tree-sha1 = "d0b4e34792fb64c3815fc79ad3adc300b1e35588"
+git-tree-sha1 = "f60d7201a2ceaa7e9a406942f0a2fa3e920715fa"
 uuid = "43230ef6-c299-4910-a778-202eb28ce4ce"
-version = "1.17.0"
+version = "1.18.0"
 
 [[deps.OrdinaryDiffEqSDIRK]]
 deps = ["ADTypes", "DiffEqBase", "FastBroadcast", "LinearAlgebra", "MacroTools", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqNonlinearSolve", "RecursiveArrayTools", "Reexport", "SciMLBase", "TruncatedStacktraces"]
@@ -1879,9 +1892,9 @@ version = "10.42.0+1"
 
 [[deps.Pango_jll]]
 deps = ["Artifacts", "Cairo_jll", "Fontconfig_jll", "FreeType2_jll", "FriBidi_jll", "Glib_jll", "HarfBuzz_jll", "JLLWrappers", "Libdl"]
-git-tree-sha1 = "275a9a6d85dc86c24d03d1837a0010226a96f540"
+git-tree-sha1 = "1f7f9bbd5f7a2e5a9f7d96e51c9754454ea7f60b"
 uuid = "36c8627f-9965-5494-a995-c6b170f724f3"
-version = "1.56.3+0"
+version = "1.56.4+0"
 
 [[deps.Parameters]]
 deps = ["OrderedCollections", "UnPack"]
@@ -1924,9 +1937,9 @@ version = "1.4.3"
 
 [[deps.Plots]]
 deps = ["Base64", "Contour", "Dates", "Downloads", "FFMPEG", "FixedPointNumbers", "GR", "JLFzf", "JSON", "LaTeXStrings", "Latexify", "LinearAlgebra", "Measures", "NaNMath", "Pkg", "PlotThemes", "PlotUtils", "PrecompileTools", "Printf", "REPL", "Random", "RecipesBase", "RecipesPipeline", "Reexport", "RelocatableFolders", "Requires", "Scratch", "Showoff", "SparseArrays", "Statistics", "StatsBase", "TOML", "UUIDs", "UnicodeFun", "UnitfulLatexify", "Unzip"]
-git-tree-sha1 = "0c5a5b7e440c008fe31416a3ac9e0d2057c81106"
+git-tree-sha1 = "bfe839e9668f0c58367fb62d8757315c0eac8777"
 uuid = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
-version = "1.40.19"
+version = "1.40.20"
 
     [deps.Plots.extensions]
     FileIOExt = "FileIO"
@@ -2146,9 +2159,9 @@ version = "2025.5.20+0"
 
 [[deps.SciMLBase]]
 deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "Moshi", "PreallocationTools", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "SciMLStructures", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface"]
-git-tree-sha1 = "77fb2a02803c5989dab94921fd51f39c24628ce7"
+git-tree-sha1 = "16fa030fb4bd4df373a677eca0460c3eee791ab2"
 uuid = "0bca4576-84f4-4d90-8ffe-ffa030f20462"
-version = "2.118.0"
+version = "2.120.0"
 
     [deps.SciMLBase.extensions]
     SciMLBaseChainRulesCoreExt = "ChainRulesCore"
@@ -2195,9 +2208,9 @@ version = "0.1.11"
 
 [[deps.SciMLOperators]]
 deps = ["Accessors", "ArrayInterface", "DocStringExtensions", "LinearAlgebra", "MacroTools"]
-git-tree-sha1 = "753026a73e1bee963239016a162db8dc1935a153"
+git-tree-sha1 = "024d829102878141aaee5cf8f8288bcabd2f57a0"
 uuid = "c0aeaf25-5076-4817-a8d5-81caf7dfa961"
-version = "1.7.1"
+version = "1.7.2"
 weakdeps = ["SparseArrays", "StaticArraysCore"]
 
     [deps.SciMLOperators.extensions]
@@ -2298,17 +2311,19 @@ version = "1.11.0"
 
 [[deps.SparseConnectivityTracer]]
 deps = ["ADTypes", "DocStringExtensions", "FillArrays", "LinearAlgebra", "Random", "SparseArrays"]
-git-tree-sha1 = "e49c106eb7c78f55cdfa39e8bddeda24e1e09fce"
+git-tree-sha1 = "3c3a42a29f696f16273741ffe589b4003f539088"
 uuid = "9f842d2f-2579-4b1d-911e-f412cf18a3f5"
-version = "1.0.2"
+version = "1.1.0"
 
     [deps.SparseConnectivityTracer.extensions]
+    SparseConnectivityTracerChainRulesCoreExt = "ChainRulesCore"
     SparseConnectivityTracerLogExpFunctionsExt = "LogExpFunctions"
     SparseConnectivityTracerNNlibExt = "NNlib"
     SparseConnectivityTracerNaNMathExt = "NaNMath"
     SparseConnectivityTracerSpecialFunctionsExt = "SpecialFunctions"
 
     [deps.SparseConnectivityTracer.weakdeps]
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
     LogExpFunctions = "2ab3a3ac-af41-5b50-aa03-7779005ae688"
     NNlib = "872c559c-99b0-510c-b3b7-b6c96a88d5cd"
     NaNMath = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
@@ -2440,9 +2455,9 @@ version = "0.2.8"
 
 [[deps.SymbolicIndexingInterface]]
 deps = ["Accessors", "ArrayInterface", "RuntimeGeneratedFunctions", "StaticArraysCore"]
-git-tree-sha1 = "93104ca226670c0cb92ba8bc6998852ad55a2d4c"
+git-tree-sha1 = "b19cf024a2b11d72bef7c74ac3d1cbe86ec9e4ed"
 uuid = "2efcf032-c050-4f8e-a9bb-153293bab1f5"
-version = "0.3.43"
+version = "0.3.44"
 weakdeps = ["PrettyTables"]
 
     [deps.SymbolicIndexingInterface.extensions]

docs/src/assets/Project.toml

@@ -18,6 +18,7 @@ JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 MINPACK = "4854310b-de5a-5eb6-a2a5-c1dee2bd17f9"
 MadNLP = "2621e9c9-9eb4-46b1-8089-e8c72242dfb6"
+MadNLPMumps = "3b83494e-c0a4-4895-918b-9157a7a085a1"
 NLPModelsIpopt = "f4238b75-b362-5c4c-b852-0801c9a21d71"
 NLPModelsKnitro = "bec4dd0d-7755-52d5-9a02-22f0ffc7efcb"
 NonlinearSolve = "8913a72c-1f9b-4ce2-8d82-65094dcecaec"
@@ -29,7 +30,7 @@ Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb"
 [compat]
 ADNLPModels = "0.8"
 CTBase = "0.16"
-CTDirect = "0.16"
+CTDirect = "0.17"
 CTFlows = "0.8"
 CTModels = "0.6"
 CTParser = "0.6"
@@ -46,6 +47,7 @@ JSON3 = "1"
 LinearAlgebra = "1"
 MINPACK = "1"
 MadNLP = "0.8"
+MadNLPMumps = "0.5"
 NLPModelsIpopt = "0.10"
 NLPModelsKnitro = "0.9"
 NonlinearSolve = "4"

src/OptimalControl.jl

@@ -136,8 +136,8 @@ export constraints,
 
 # CTDirect
 import CTDirect:
-    CTDirect, direct_transcription, set_initial_guess, build_OCP_solution, model
-export direct_transcription, set_initial_guess, build_OCP_solution, model
+    CTDirect, direct_transcription, set_initial_guess, build_OCP_solution, nlp_model, ocp_model
+export direct_transcription, set_initial_guess, build_OCP_solution, nlp_model, ocp_model
 
 # CTFlows
 import CTFlows: