Merge pull request #21 from harmoniqs/dev/struct-functions

fix: bump version to 0.2.6 and comment out broken function calls in solver

Author: aarontrowbridge

Project.toml

@@ -1,7 +1,7 @@
 name = "DirectTrajOpt"
 uuid = "c823fa1f-8872-4af5-b810-2b9b72bbbf56"
 authors = ["Aaron Trowbridge <aaron.j.trowbridge@gmail.com> and contributors"]
-version = "0.2.5"
+version = "0.2.6"
 
 [deps]
 ExponentialAction = "e24c0720-ea99-47e8-929e-571b494574d3"

src/solvers/ipopt_solver/solver.jl

@@ -47,7 +47,8 @@ function DC.solve!(
 
     update_trajectory!(prob, optimizer, variables)
 
-    remove_slack_variables!(prob)
+    # TODO: this is broken, it mixes up component names
+    # remove_slack_variables!(prob)
 
     return nothing
 end
@@ -209,7 +210,10 @@ function update_trajectory!(
     end
     global_data = (; (global_keys .=> global_values)...)
 
-    prob.trajectory = NamedTrajectory(datavec, global_data, prob.trajectory)
+    update!(prob.trajectory, datavec)
+
+    # TODO: this results in a bug of shifted components when components are added after creating a trajectory, this affects constraints which store original componentes in probs
+    # prob.trajectory = NamedTrajectory(datavec, global_data, prob.trajectory)
 
     return nothing
 end