From fe674a7d373ed2dcd64e8d7d051a3f8f210ce0e8 Mon Sep 17 00:00:00 2001 From: Olivier Cots Date: Fri, 26 Sep 2025 10:42:08 +0200 Subject: [PATCH 1/7] foo --- docs/make.jl | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/docs/make.jl b/docs/make.jl index e13e56d..dc08085 100644 --- a/docs/make.jl +++ b/docs/make.jl @@ -31,14 +31,15 @@ cp( repo_url = "github.com/control-toolbox/Tutorials.jl" -makedocs(; - draft=false, # if draft is true, then the julia code from .md is not executed - # to disable the draft mode in a specific markdown file, use the following: +# if draft is true, then the julia code from .md is not executed # debug +# to disable the draft mode in a specific markdown file, use the following: #= ```@meta Draft = false ``` =# +makedocs(; + draft=true, warnonly=[:cross_references, :autodocs_block], sitename="Tutorials", format=Documenter.HTML(; From 0e774217f8f07c71eae090396836500ecc6e5b68 Mon Sep 17 00:00:00 2001 From: Olivier Cots Date: Fri, 26 Sep 2025 10:43:06 +0200 Subject: [PATCH 2/7] v0.3.0 --- Project.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Project.toml b/Project.toml index 253c6ce..58fc0fd 100644 --- a/Project.toml +++ b/Project.toml @@ -1,7 +1,7 @@ name = "Tutorials" uuid = "cb10daa6-a5e5-4c25-a171-ae181b8ea3c9" authors = ["Olivier Cots "] -version = "0.2.0" +version = "0.3.0" [compat] julia = "1.10" From c94a9967d1587e5c30912294c23ee30528eb64dd Mon Sep 17 00:00:00 2001 From: Olivier Cots Date: Fri, 26 Sep 2025 10:48:45 +0200 Subject: [PATCH 3/7] model -> nlp_model --- docs/Project.toml | 1 + docs/extras/disc.jl | 2 +- docs/make.jl | 2 +- docs/src/assets/Manifest.toml | 577 +++++++++++++++------------- docs/src/assets/Project.toml | 16 +- docs/src/tutorial-discretisation.md | 2 +- docs/src/tutorial-nlp.md | 4 +- 7 files changed, 329 insertions(+), 275 deletions(-) diff --git a/docs/Project.toml b/docs/Project.toml index 5e19309..550ebeb 100644 --- a/docs/Project.toml +++ b/docs/Project.toml @@ -16,6 +16,7 @@ OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed" Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80" Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7" Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb" +Tutorials = "cb10daa6-a5e5-4c25-a171-ae181b8ea3c9" [compat] BenchmarkTools = "1" diff --git a/docs/extras/disc.jl b/docs/extras/disc.jl index 435bbf1..4d629c9 100644 --- a/docs/extras/disc.jl +++ b/docs/extras/disc.jl @@ -93,7 +93,7 @@ for adnlp_backend in backends docp = @btimed direct_transcription( $ocp; disc_method=:euler, grid_size=1000, adnlp_backend=($adnlp_backend) ) - nlp = model(docp) + nlp = nlp_model(docp) prepa_time = bt.time # Get the number of non-zero elements diff --git a/docs/make.jl b/docs/make.jl index dc08085..61705a1 100644 --- a/docs/make.jl +++ b/docs/make.jl @@ -39,7 +39,7 @@ Draft = false ``` =# makedocs(; - draft=true, + draft=false, warnonly=[:cross_references, :autodocs_block], sitename="Tutorials", format=Documenter.HTML(; diff --git a/docs/src/assets/Manifest.toml b/docs/src/assets/Manifest.toml index 54314ea..1ab65f6 100644 --- a/docs/src/assets/Manifest.toml +++ b/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 = "82d0e8898147399344b23c193fc001d42d758daf" +project_hash = "b2610b83ba30b547d849f2e1f8da5f327cd6b885" [[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 = "7927b9af540ee964cc5d1b73293f1eb0b761a3a1" +git-tree-sha1 = "27cecae79e5cc9935255f90c53bb831cc3c870d7" uuid = "47edcb42-4c32-4615-8424-f2b9edc5f35b" -version = "1.16.0" +version = "1.18.0" weakdeps = ["ChainRulesCore", "ConstructionBase", "EnzymeCore"] [deps.ADTypes.extensions] @@ -69,9 +69,9 @@ version = "0.1.42" [[deps.Adapt]] deps = ["LinearAlgebra", "Requires"] -git-tree-sha1 = "f7817e2e585aa6d924fd714df1e2a84be7896c60" +git-tree-sha1 = "7e35fca2bdfba44d797c53dfe63a51fabf39bfc0" uuid = "79e6a3ab-5dfb-504d-930d-738a2a938a0e" -version = "4.3.0" +version = "4.4.0" weakdeps = ["SparseArrays", "StaticArrays"] [deps.Adapt.extensions] @@ -90,9 +90,9 @@ version = "1.1.2" [[deps.ArrayInterface]] deps = ["Adapt", "LinearAlgebra"] -git-tree-sha1 = "9606d7832795cbef89e06a550475be300364a8aa" +git-tree-sha1 = "dbd8c3bbbdbb5c2778f85f4422c39960eac65a42" uuid = "4fba245c-0d91-5ea0-9b3e-6abc04ee57a9" -version = "7.19.0" +version = "7.20.0" [deps.ArrayInterface.extensions] ArrayInterfaceBandedMatricesExt = "BandedMatrices" @@ -102,6 +102,7 @@ version = "7.19.0" ArrayInterfaceChainRulesCoreExt = "ChainRulesCore" ArrayInterfaceChainRulesExt = "ChainRules" ArrayInterfaceGPUArraysCoreExt = "GPUArraysCore" + ArrayInterfaceMetalExt = "Metal" ArrayInterfaceReverseDiffExt = "ReverseDiff" ArrayInterfaceSparseArraysExt = "SparseArrays" ArrayInterfaceStaticArraysCoreExt = "StaticArraysCore" @@ -115,6 +116,7 @@ version = "7.19.0" ChainRules = "082447d4-558c-5d27-93f4-14fc19e9eca2" ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" GPUArraysCore = "46192b85-c4d5-4398-a991-12ede77f4527" + Metal = "dde4c033-4e86-420c-a63e-0dd931031962" ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267" SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" StaticArraysCore = "1e83bf80-4336-4d27-bf5d-d5a4f845583c" @@ -163,9 +165,9 @@ version = "0.1.6" [[deps.BracketingNonlinearSolve]] deps = ["CommonSolve", "ConcreteStructs", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase"] -git-tree-sha1 = "a9014924595b7a2c1dd14aac516e38fa10ada656" +git-tree-sha1 = "90740f16aef91d898424bc11c1cabada475435e0" uuid = "70df07ce-3d50-431d-a3e7-ca6ddb60ac1e" -version = "1.3.0" +version = "1.4.0" weakdeps = ["ChainRulesCore", "ForwardDiff"] [deps.BracketingNonlinearSolve.extensions] @@ -179,16 +181,16 @@ uuid = "6e34b625-4abd-537c-b88f-471c36dfa7a0" version = "1.0.9+0" [[deps.CPUSummary]] -deps = ["CpuId", "IfElse", "PrecompileTools", "Static"] -git-tree-sha1 = "5a97e67919535d6841172016c9530fd69494e5ec" +deps = ["CpuId", "IfElse", "PrecompileTools", "Preferences", "Static"] +git-tree-sha1 = "f3a21d7fc84ba618a779d1ed2fcca2e682865bab" uuid = "2a0fbf3d-bb9c-48f3-b0a9-814d99fd7ab9" -version = "0.2.6" +version = "0.2.7" [[deps.CTBase]] deps = ["DocStringExtensions"] -git-tree-sha1 = "d9da91e578266593c1125785185a27ec6e3c7d17" +git-tree-sha1 = "62017f38515aea94b44eaa4892e3552f5ef5dcbf" uuid = "54762871-cc72-4466-b8e8-f6c8b58076cd" -version = "0.16.3" +version = "0.16.4" weakdeps = ["HTTP", "JSON"] [deps.CTBase.extensions] @@ -196,9 +198,9 @@ weakdeps = ["HTTP", "JSON"] [[deps.CTDirect]] deps = ["CTBase", "CTModels", "DocStringExtensions", "HSL", "MKL", "SparseArrays"] -git-tree-sha1 = "a555be516f85b2c45d6348261fa64ee7f743a121" +git-tree-sha1 = "a3e796c81478034446feb316816ccfe1f250f211" uuid = "790bbbee-bee9-49ee-8912-a9de031322d5" -version = "0.16.2" +version = "0.17.3" [deps.CTDirect.extensions] CTDirectExtADNLP = ["ADNLPModels"] @@ -225,10 +227,10 @@ weakdeps = ["OrdinaryDiffEq"] CTFlowsODE = "OrdinaryDiffEq" [[deps.CTModels]] -deps = ["CTBase", "DocStringExtensions", "Interpolations", "LinearAlgebra", "MLStyle", "MacroTools", "OrderedCollections", "Parameters", "PrettyTables", "RecipesBase"] -git-tree-sha1 = "3a520aa1f66e7fef22bacc71d68af960580de615" +deps = ["CTBase", "DocStringExtensions", "Interpolations", "LinearAlgebra", "MLStyle", "MacroTools", "OrderedCollections", "Parameters", "RecipesBase"] +git-tree-sha1 = "f5e80274149d9910656b0c94c378cdead3f689ad" uuid = "34c4fa32-2049-4079-8329-de33c2a22e2d" -version = "0.6.3" +version = "0.6.8" [deps.CTModels.extensions] CTModelsJLD = "JLD2" @@ -242,10 +244,9 @@ version = "0.6.3" [[deps.CTParser]] deps = ["CTBase", "DocStringExtensions", "MLStyle", "OrderedCollections", "Parameters", "Unicode"] -git-tree-sha1 = "c76927648ca8324b07f48b45c3b313033d280922" +git-tree-sha1 = "7e95684a3b47015e3d2feac81292a89d60a9dae6" uuid = "32681960-a1b1-40db-9bff-a1ca817385d1" -version = "0.6.2" -weakdeps = ["MadNLP"] +version = "0.7.0" [[deps.Cairo_jll]] deps = ["Artifacts", "Bzip2_jll", "CompilerSupportLibraries_jll", "Fontconfig_jll", "FreeType2_jll", "Glib_jll", "JLLWrappers", "LZO_jll", "Libdl", "Pixman_jll", "Xorg_libXext_jll", "Xorg_libXrender_jll", "Zlib_jll", "libpng_jll"] @@ -255,9 +256,9 @@ version = "1.18.5+0" [[deps.ChainRulesCore]] deps = ["Compat", "LinearAlgebra"] -git-tree-sha1 = "06ee8d1aa558d2833aa799f6f0b31b30cada405f" +git-tree-sha1 = "e4c6a16e77171a5f5e25e9646617ab1c276c5607" uuid = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" -version = "1.25.2" +version = "1.26.0" weakdeps = ["SparseArrays"] [deps.ChainRulesCore.extensions] @@ -277,9 +278,9 @@ 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"] @@ -396,15 +397,15 @@ version = "1.16.0" [[deps.DataFrames]] deps = ["Compat", "DataAPI", "DataStructures", "Future", "InlineStrings", "InvertedIndices", "IteratorInterfaceExtensions", "LinearAlgebra", "Markdown", "Missings", "PooledArrays", "PrecompileTools", "PrettyTables", "Printf", "Random", "Reexport", "SentinelArrays", "SortingAlgorithms", "Statistics", "TableTraits", "Tables", "Unicode"] -git-tree-sha1 = "fb61b4812c49343d7ef0b533ba982c46021938a6" +git-tree-sha1 = "c967271c27a95160e30432e011b58f42cd7501b5" uuid = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0" -version = "1.7.0" +version = "1.8.0" [[deps.DataStructures]] -deps = ["Compat", "InteractiveUtils", "OrderedCollections"] -git-tree-sha1 = "4e1fe97fdaed23e9dc21d4d664bea76b65fc50a0" +deps = ["OrderedCollections"] +git-tree-sha1 = "6c72198e6a101cccdd4c9731d3985e904ba26037" uuid = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8" -version = "0.18.22" +version = "0.19.1" [[deps.DataValueInterfaces]] git-tree-sha1 = "bfc1187b79289637fa0ef6d4436ebdfe6905cbd6" @@ -429,15 +430,14 @@ uuid = "8bb1440f-4735-579b-a4ab-409b98df4dab" version = "1.9.1" [[deps.DiffEqBase]] -deps = ["ArrayInterface", "ConcreteStructs", "DataStructures", "DocStringExtensions", "EnumX", "EnzymeCore", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "Parameters", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "SciMLStructures", "Setfield", "Static", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "TruncatedStacktraces"] -git-tree-sha1 = "c1ae1a949a95ee1895e3b48e11982f102152c3aa" +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 = "087632db966c90079a5534e4147afea9136ca39a" uuid = "2b5f629d-d688-5b77-993f-72d75c75574e" -version = "6.182.0" +version = "6.190.2" [deps.DiffEqBase.extensions] DiffEqBaseCUDAExt = "CUDA" DiffEqBaseChainRulesCoreExt = "ChainRulesCore" - DiffEqBaseDistributionsExt = "Distributions" DiffEqBaseEnzymeExt = ["ChainRulesCore", "Enzyme"] DiffEqBaseForwardDiffExt = ["ForwardDiff"] DiffEqBaseGTPSAExt = "GTPSA" @@ -482,9 +482,9 @@ version = "1.15.1" [[deps.DifferentiationInterface]] deps = ["ADTypes", "LinearAlgebra"] -git-tree-sha1 = "54d7b8c74408048aea9c055ac8573b2b5c5ec11f" +git-tree-sha1 = "16946a4d305607c3a4af54ff35d56f0e9444ed0e" uuid = "a0c0ee7d-e4b9-4e03-894e-1c5f64a51d63" -version = "0.7.4" +version = "0.7.7" [deps.DifferentiationInterface.extensions] DifferentiationInterfaceChainRulesCoreExt = "ChainRulesCore" @@ -569,9 +569,9 @@ uuid = "4e289a0a-7415-4d19-859d-a7e5c4648b56" version = "1.0.5" [[deps.EnzymeCore]] -git-tree-sha1 = "8272a687bca7b5c601c0c24fc0c71bff10aafdfd" +git-tree-sha1 = "787f5e2efb33af12cc3fde313c1b0195a3f08eba" uuid = "f151be2c-9106-41f4-ab19-57ee4f262869" -version = "0.8.12" +version = "0.8.13" weakdeps = ["Adapt"] [deps.EnzymeCore.extensions] @@ -585,9 +585,9 @@ version = "0.0.20230411+1" [[deps.ExaModels]] deps = ["NLPModels", "Printf", "SolverCore"] -git-tree-sha1 = "d33a033f1623bceaa5a07c8d43aa6fb0696acad5" +git-tree-sha1 = "228b2c8a02228fb28179c620d8337a8b7a781a15" uuid = "1037b233-b668-4ce9-9b63-f9f681f55dd2" -version = "0.9.0" +version = "0.9.1" [deps.ExaModels.extensions] ExaModelsAMDGPU = "AMDGPU" @@ -622,9 +622,9 @@ version = "0.1.11" [[deps.Expat_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "d55dffd9ae73ff72f1c0482454dcf2ec6c6c4a63" +git-tree-sha1 = "7bb1361afdb33c7f2b085aa49ea8fe1b0fb14e58" uuid = "2e619515-83b5-522b-bb60-26c02a35a201" -version = "2.6.5+0" +version = "2.7.1+0" [[deps.ExponentialUtilities]] deps = ["Adapt", "ArrayInterface", "GPUArraysCore", "GenericSchur", "LinearAlgebra", "PrecompileTools", "Printf", "SparseArrays", "libblastrampoline_jll"] @@ -704,9 +704,9 @@ version = "1.11.0" [[deps.FillArrays]] deps = ["LinearAlgebra"] -git-tree-sha1 = "6a70198746448456524cb442b8af316927ff3e1a" +git-tree-sha1 = "173e4d8f14230a7523ae11b9a3fa9edb3e0efd78" uuid = "1a297f60-69ca-5386-bcde-b61e274b549b" -version = "1.13.0" +version = "1.14.0" [deps.FillArrays.extensions] FillArraysPDMatsExt = "PDMats" @@ -720,9 +720,9 @@ version = "1.13.0" [[deps.FiniteDiff]] deps = ["ArrayInterface", "LinearAlgebra", "Setfield"] -git-tree-sha1 = "f089ab1f834470c525562030c8cfde4025d5e915" +git-tree-sha1 = "31fd32af86234b6b71add76229d53129aa1b87a9" uuid = "6a86dc24-6348-571c-b903-95158fe2bd41" -version = "2.27.0" +version = "2.28.1" [deps.FiniteDiff.extensions] FiniteDiffBandedMatricesExt = "BandedMatrices" @@ -744,9 +744,9 @@ version = "0.8.5" [[deps.Fontconfig_jll]] deps = ["Artifacts", "Bzip2_jll", "Expat_jll", "FreeType2_jll", "JLLWrappers", "Libdl", "Libuuid_jll", "Zlib_jll"] -git-tree-sha1 = "301b5d5d731a0654825f1f2e906990f7141a106b" +git-tree-sha1 = "f85dac9a96a01087df6e3a749840015a0ca3817d" uuid = "a3f928ae-7b40-5064-980b-68af3947d34b" -version = "2.16.0+0" +version = "2.17.1+0" [[deps.Format]] git-tree-sha1 = "9c68794ef81b08086aeb32eeaf33531668d5f5fc" @@ -755,9 +755,9 @@ version = "1.3.7" [[deps.ForwardDiff]] deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "LinearAlgebra", "LogExpFunctions", "NaNMath", "Preferences", "Printf", "Random", "SpecialFunctions"] -git-tree-sha1 = "910febccb28d493032495b7009dce7d7f7aee554" +git-tree-sha1 = "dc41303865a16274ecb8450c220021ce1e0cf05f" uuid = "f6369f11-7733-5829-9624-2563aa707210" -version = "1.0.1" +version = "1.2.1" weakdeps = ["StaticArrays"] [deps.ForwardDiff.extensions] @@ -827,23 +827,35 @@ git-tree-sha1 = "45288942190db7c5f760f59c04495064eedf9340" uuid = "b0724c58-0f36-5564-988d-3bb0596ebc4a" version = "0.22.4+0" +[[deps.Ghostscript_jll]] +deps = ["Artifacts", "JLLWrappers", "JpegTurbo_jll", "Libdl", "Zlib_jll"] +git-tree-sha1 = "38044a04637976140074d0b0621c1edf0eb531fd" +uuid = "61579ee1-b43e-5ca0-a5da-69d92c66a64b" +version = "9.55.1+0" + [[deps.Git]] -deps = ["Git_jll", "JLLWrappers", "OpenSSH_jll"] -git-tree-sha1 = "2230a9cc32394b11a3b3aa807a382e3bbab1198c" +deps = ["Git_LFS_jll", "Git_jll", "JLLWrappers", "OpenSSH_jll"] +git-tree-sha1 = "824a1890086880696fc908fe12a17bcf61738bd8" uuid = "d7ba0133-e1db-5d97-8f8c-041e4b3a1eb2" -version = "1.4.0" +version = "1.5.0" + +[[deps.Git_LFS_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl"] +git-tree-sha1 = "bb8471f313ed941f299aa53d32a94ab3bee08844" +uuid = "020c3dae-16b3-5ae5-87b3-4cb189e250b2" +version = "3.7.0+0" [[deps.Git_jll]] deps = ["Artifacts", "Expat_jll", "JLLWrappers", "LibCURL_jll", "Libdl", "Libiconv_jll", "OpenSSL_jll", "PCRE2_jll", "Zlib_jll"] -git-tree-sha1 = "cb151153e40ad40a6dbf984fcd767e1d266fcc9c" +git-tree-sha1 = "e2aef26f7d273f1e5b1daba56837c47b49b4388f" uuid = "f8c6e375-362e-5223-8a59-34ff63f689eb" -version = "2.50.1+0" +version = "2.51.1+0" [[deps.Glib_jll]] deps = ["Artifacts", "GettextRuntime_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Libiconv_jll", "Libmount_jll", "PCRE2_jll", "Zlib_jll"] -git-tree-sha1 = "35fbd0cefb04a516104b8e183ce0df11b70a3f1a" +git-tree-sha1 = "50c11ffab2a3d50192a228c313f05b5b5dc5acb2" uuid = "7746bdde-850d-59dc-9ae8-88ece973131d" -version = "2.84.3+0" +version = "2.86.0+0" [[deps.Graphite2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -881,10 +893,10 @@ uuid = "2e76f6c2-a576-52d4-95c1-20adfe4de566" version = "8.5.1+0" [[deps.Hwloc_jll]] -deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "92f65c4d78ce8cdbb6b68daf88889950b0a99d11" +deps = ["Artifacts", "JLLWrappers", "Libdl", "XML2_jll", "Xorg_libpciaccess_jll"] +git-tree-sha1 = "3d468106a05408f9f7b6f161d9e7715159af247b" uuid = "e33a78d0-f292-5ffc-b300-72abe9b543c8" -version = "2.12.1+0" +version = "2.12.2+0" [[deps.IOCapture]] deps = ["Logging", "Random"] @@ -898,9 +910,9 @@ uuid = "615f187c-cbe4-4ef1-ba3b-2fcf58d6d173" version = "0.1.1" [[deps.InlineStrings]] -git-tree-sha1 = "8594fac023c5ce1ef78260f24d1ad18b4327b420" +git-tree-sha1 = "8f3d257792a522b4601c24a577954b0a8cd7334d" uuid = "842dd82b-1e85-43dc-bf29-5d0ee9dffc48" -version = "1.4.4" +version = "1.4.5" [deps.InlineStrings.extensions] ArrowTypesExt = "ArrowTypes" @@ -922,16 +934,19 @@ uuid = "b77e0a4c-d291-57a0-90e8-8db25a27a240" version = "1.11.0" [[deps.Interpolations]] -deps = ["Adapt", "AxisAlgorithms", "ChainRulesCore", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "Requires", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] -git-tree-sha1 = "f2905febca224eade352a573e129ef43aa593354" +deps = ["Adapt", "AxisAlgorithms", "ChainRulesCore", "LinearAlgebra", "OffsetArrays", "Random", "Ratios", "SharedArrays", "SparseArrays", "StaticArrays", "WoodburyMatrices"] +git-tree-sha1 = "65d505fa4c0d7072990d659ef3fc086eb6da8208" uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59" -version = "0.16.1" -weakdeps = ["ForwardDiff", "Unitful"] +version = "0.16.2" [deps.Interpolations.extensions] InterpolationsForwardDiffExt = "ForwardDiff" InterpolationsUnitfulExt = "Unitful" + [deps.Interpolations.weakdeps] + ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210" + Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d" + [[deps.InverseFunctions]] git-tree-sha1 = "a779299d77cd080bf77b97535acecd73e1c5e5cb" uuid = "3587e190-3f89-42d0-90ee-14403ec27112" @@ -949,9 +964,9 @@ version = "1.3.1" [[deps.Ipopt]] deps = ["Ipopt_jll", "LinearAlgebra", "OpenBLAS32_jll", "PrecompileTools"] -git-tree-sha1 = "4ad0d2dea51e5d49866b40a2d2521da6a1be7097" +git-tree-sha1 = "ef90a75a3ee8c2b170f6c177d4d003348dd30f67" uuid = "b6b21f68-93f8-5de0-b562-5493be1d77c9" -version = "1.10.6" +version = "1.11.0" [deps.Ipopt.extensions] IpoptMathOptInterfaceExt = "MathOptInterface" @@ -961,9 +976,9 @@ version = "1.10.6" [[deps.Ipopt_jll]] deps = ["ASL_jll", "Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "MUMPS_seq_jll", "SPRAL_jll", "libblastrampoline_jll"] -git-tree-sha1 = "1bb978524c2837be596aeb2b69951feb6b9822f8" +git-tree-sha1 = "b33cbc78b8d4de87d18fcd705054a82e2999dbac" uuid = "9cc047cb-c261-5740-88fc-0cf96f7bdcc7" -version = "300.1400.1701+0" +version = "300.1400.1900+0" [[deps.IrrationalConstants]] git-tree-sha1 = "e2222959fbc6c19554dc15174c81bf7bf3aa691c" @@ -1001,15 +1016,15 @@ version = "0.2.1" [[deps.JpegTurbo_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "eac1206917768cb54957c65a615460d87b455fc1" +git-tree-sha1 = "4255f0032eafd6451d707a51d5f0248b8a165e4d" uuid = "aacddb02-875f-59d6-b918-886e6ef4fbf8" -version = "3.1.1+0" +version = "3.1.3+0" [[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"] @@ -1047,10 +1062,10 @@ uuid = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f" version = "1.4.0" [[deps.Latexify]] -deps = ["Format", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "OrderedCollections", "Requires"] -git-tree-sha1 = "4f34eaabe49ecb3fb0d58d6015e32fd31a733199" +deps = ["Format", "Ghostscript_jll", "InteractiveUtils", "LaTeXStrings", "MacroTools", "Markdown", "OrderedCollections", "Requires"] +git-tree-sha1 = "44f93c47f9cd6c7e431f2f2091fcba8f01cd7e8f" uuid = "23fbe1c1-3f47-55db-b15f-69d7ec21a316" -version = "0.16.8" +version = "0.16.10" [deps.Latexify.extensions] DataFramesExt = "DataFrames" @@ -1077,9 +1092,9 @@ 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" @@ -1147,21 +1162,21 @@ version = "1.18.0+0" [[deps.Libmount_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "a31572773ac1b745e0343fe5e2c8ddda7a37e997" +git-tree-sha1 = "3acf07f130a76f87c041cfb2ff7d7284ca67b072" uuid = "4b2f31a3-9ecc-558c-b454-b3730dcb73e9" -version = "2.41.0+0" +version = "2.41.2+0" [[deps.Libtiff_jll]] deps = ["Artifacts", "JLLWrappers", "JpegTurbo_jll", "LERC_jll", "Libdl", "XZ_jll", "Zlib_jll", "Zstd_jll"] -git-tree-sha1 = "4ab7581296671007fc33f07a721631b8855f4b1d" +git-tree-sha1 = "f04133fe05eff1667d2054c53d59f9122383fe05" uuid = "89763e89-9b03-5906-acba-b20f662cd828" -version = "4.7.1+0" +version = "4.7.2+0" [[deps.Libuuid_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "321ccef73a96ba828cd51f2ab5b9f917fa73945a" +git-tree-sha1 = "2a7a12fc0a4e7fb773450d17975322aa77142106" uuid = "38a345b3-de98-5d2b-a5d3-14cd9215e700" -version = "2.41.0+0" +version = "2.41.2+0" [[deps.LineSearch]] deps = ["ADTypes", "CommonSolve", "ConcreteStructs", "FastClosures", "LinearAlgebra", "MaybeInplace", "SciMLBase", "SciMLJacobianOperators", "StaticArraysCore"] @@ -1186,9 +1201,9 @@ version = "1.11.0" [[deps.LinearOperators]] deps = ["FastClosures", "LinearAlgebra", "Printf", "Requires", "SparseArrays", "TimerOutputs"] -git-tree-sha1 = "1894a798ed8887895c5ae70f1fe8331c0c1d8480" +git-tree-sha1 = "db137007d2c4ed948aa5f2518a2b451851ea8bda" uuid = "5c8ed15e-5a4c-59e4-a42b-c7e8811fb125" -version = "2.10.0" +version = "2.11.0" [deps.LinearOperators.extensions] LinearOperatorsAMDGPUExt = "AMDGPU" @@ -1207,18 +1222,20 @@ version = "2.10.0" Metal = "dde4c033-4e86-420c-a63e-0dd931031962" [[deps.LinearSolve]] -deps = ["ArrayInterface", "ChainRulesCore", "ConcreteStructs", "DocStringExtensions", "EnumX", "GPUArraysCore", "InteractiveUtils", "Krylov", "LazyArrays", "Libdl", "LinearAlgebra", "MKL_jll", "Markdown", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLOperators", "Setfield", "StaticArraysCore", "UnPack"] -git-tree-sha1 = "4a7614717945ce05d1693192f399e3b258c60636" +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 = "e479c96c20e3fe6067d7ee6618839236d156f060" uuid = "7ed4a6bd-45f5-4d41-b270-4a48e9bafcae" -version = "3.25.1" +version = "3.40.1" [deps.LinearSolve.extensions] + LinearSolveAMDGPUExt = "AMDGPU" LinearSolveBLISExt = ["blis_jll", "LAPACK_jll"] LinearSolveBandedMatricesExt = "BandedMatrices" LinearSolveBlockDiagonalsExt = "BlockDiagonals" LinearSolveCUDAExt = "CUDA" LinearSolveCUDSSExt = "CUDSS" LinearSolveCUSOLVERRFExt = ["CUSOLVERRF", "SparseArrays"] + LinearSolveCliqueTreesExt = ["CliqueTrees", "SparseArrays"] LinearSolveEnzymeExt = "EnzymeCore" LinearSolveFastAlmostBandedMatricesExt = "FastAlmostBandedMatrices" LinearSolveFastLapackInterfaceExt = "FastLapackInterface" @@ -1234,11 +1251,13 @@ version = "3.25.1" LinearSolveSparspakExt = ["SparseArrays", "Sparspak"] [deps.LinearSolve.weakdeps] + AMDGPU = "21141c5a-9bdb-4563-92ae-f87d6854732e" BandedMatrices = "aae01518-5342-5314-be14-df237901396f" BlockDiagonals = "0a1fb500-61f7-11e9-3c65-f5ef3456f9f0" CUDA = "052768ef-5323-5732-b1bb-66c8b64840ba" CUDSS = "45b445bb-4962-46a0-9369-b4df9d0f772e" CUSOLVERRF = "a8cc9031-bad2-4722-94f5-40deabb4245c" + CliqueTrees = "60701a23-6482-424a-84db-faee86b9b1f8" EnzymeCore = "f151be2c-9106-41f4-ab19-57ee4f262869" FastAlmostBandedMatrices = "9d29842c-ecb8-4973-b1e9-a27b1157504e" FastLapackInterface = "29a986be-02c6-4525-aec4-84b980013641" @@ -1312,9 +1331,9 @@ version = "0.4.17" [[deps.MUMPS_seq_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "METIS_jll", "libblastrampoline_jll"] -git-tree-sha1 = "196f61d99adc06f32c32bc4afe5298d9b1e862c8" +git-tree-sha1 = "fc0c8442887b48c15aec2b1787a5fc812a99b2fd" uuid = "d7ed1dd3-d0ae-5e8e-bfb4-87a502085b8d" -version = "500.800.0+0" +version = "500.800.100+0" [[deps.MacroTools]] git-tree-sha1 = "1e0228a030642014fe5cfe68c2c0a818f9e3f522" @@ -1323,9 +1342,9 @@ version = "0.5.16" [[deps.MadNLP]] deps = ["LDLFactorizations", "LinearAlgebra", "Logging", "NLPModels", "Pkg", "Printf", "SolverCore", "SparseArrays", "SuiteSparse"] -git-tree-sha1 = "de72248c46b2e22573a9311045dfc3cd0b7c5cc1" +git-tree-sha1 = "6d4d80f692d35e073d6e5796ebb0a8a07963d781" uuid = "2621e9c9-9eb4-46b1-8089-e8c72242dfb6" -version = "0.8.7" +version = "0.8.12" [deps.MadNLP.extensions] MadNLPMOI = "MathOptInterface" @@ -1429,10 +1448,10 @@ 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" @@ -1441,7 +1460,7 @@ version = "4.10.0" NonlinearSolveMINPACKExt = "MINPACK" NonlinearSolveNLSolversExt = "NLSolvers" NonlinearSolveNLsolveExt = ["NLsolve", "LineSearches"] - NonlinearSolvePETScExt = ["PETSc", "MPI"] + NonlinearSolvePETScExt = ["PETSc", "MPI", "SparseArrays"] NonlinearSolveSIAMFANLEquationsExt = "SIAMFANLEquations" NonlinearSolveSpeedMappingExt = "SpeedMapping" NonlinearSolveSundialsExt = "Sundials" @@ -1457,54 +1476,63 @@ 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", "StaticArraysCore", "SymbolicIndexingInterface", "TimerOutputs"] -git-tree-sha1 = "1d42a315ba627ca0027d49d0efb44e3d88db24aa" +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 = "f05e5f3d0f280598ecdc26b06ec9acd71dcaef31" uuid = "be0214bd-f91f-a760-ac4e-3421ce2b2da0" -version = "1.14.0" +version = "1.16.1" [deps.NonlinearSolveBase.extensions] NonlinearSolveBaseBandedMatricesExt = "BandedMatrices" - NonlinearSolveBaseDiffEqBaseExt = "DiffEqBase" + NonlinearSolveBaseChainRulesCoreExt = "ChainRulesCore" + NonlinearSolveBaseEnzymeExt = ["ChainRulesCore", "Enzyme"] NonlinearSolveBaseForwardDiffExt = "ForwardDiff" NonlinearSolveBaseLineSearchExt = "LineSearch" NonlinearSolveBaseLinearSolveExt = "LinearSolve" + NonlinearSolveBaseMooncakeExt = "Mooncake" + NonlinearSolveBaseReverseDiffExt = "ReverseDiff" NonlinearSolveBaseSparseArraysExt = "SparseArrays" NonlinearSolveBaseSparseMatrixColoringsExt = "SparseMatrixColorings" + NonlinearSolveBaseTrackerExt = "Tracker" [deps.NonlinearSolveBase.weakdeps] BandedMatrices = "aae01518-5342-5314-be14-df237901396f" - DiffEqBase = "2b5f629d-d688-5b77-993f-72d75c75574e" + ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" + Enzyme = "7da242da-08ed-463a-9acd-ee780be4f1d9" ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210" LineSearch = "87fe0de2-c867-4266-b59a-2f0a94fc965b" LinearSolve = "7ed4a6bd-45f5-4d41-b270-4a48e9bafcae" + Mooncake = "da2b9cff-9c12-43a0-ae48-6db2b0edb7d6" + ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267" SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" SparseMatrixColorings = "0a514795-09f3-496d-8182-132a7b665d35" + Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c" [[deps.NonlinearSolveFirstOrder]] -deps = ["ADTypes", "ArrayInterface", "CommonSolve", "ConcreteStructs", "DiffEqBase", "FiniteDiff", "ForwardDiff", "LineSearch", "LinearAlgebra", "LinearSolve", "MaybeInplace", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase", "SciMLJacobianOperators", "Setfield", "StaticArraysCore"] -git-tree-sha1 = "3f1198ae5cbf21e84b8251a9e62fa1f888f3e4cb" +deps = ["ADTypes", "ArrayInterface", "CommonSolve", "ConcreteStructs", "FiniteDiff", "ForwardDiff", "LineSearch", "LinearAlgebra", "LinearSolve", "MaybeInplace", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase", "SciMLJacobianOperators", "Setfield", "StaticArraysCore"] +git-tree-sha1 = "b9702235120d1161f8041b326eccebd334340de2" uuid = "5959db7a-ea39-4486-b5fe-2dd0bf03d60d" -version = "1.7.0" +version = "1.8.0" [[deps.NonlinearSolveQuasiNewton]] -deps = ["ArrayInterface", "CommonSolve", "ConcreteStructs", "DiffEqBase", "LinearAlgebra", "LinearSolve", "MaybeInplace", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase", "SciMLOperators", "StaticArraysCore"] -git-tree-sha1 = "40dfaf1bf74f1f700f81d0002d4dd90999598eb2" +deps = ["ArrayInterface", "CommonSolve", "ConcreteStructs", "LinearAlgebra", "LinearSolve", "MaybeInplace", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase", "SciMLOperators", "StaticArraysCore"] +git-tree-sha1 = "4e0e34601c6c9890aa9443003180967f75c6929d" uuid = "9a2c21bd-3a47-402d-9113-8faf9a0ee114" -version = "1.8.0" +version = "1.9.0" weakdeps = ["ForwardDiff"] [deps.NonlinearSolveQuasiNewton.extensions] NonlinearSolveQuasiNewtonForwardDiffExt = "ForwardDiff" [[deps.NonlinearSolveSpectralMethods]] -deps = ["CommonSolve", "ConcreteStructs", "DiffEqBase", "LineSearch", "MaybeInplace", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase"] -git-tree-sha1 = "84de5a469e119eb2c22ae07c543dc4e7f7001ee7" +deps = ["CommonSolve", "ConcreteStructs", "LineSearch", "MaybeInplace", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase"] +git-tree-sha1 = "6c613302febe2bb408a888105d07073cf6824911" uuid = "26075421-4e9a-44e1-8bd1-420ed7ad02b2" -version = "1.3.0" +version = "1.4.0" weakdeps = ["ForwardDiff"] [deps.NonlinearSolveSpectralMethods.extensions] @@ -1543,9 +1571,9 @@ 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"] @@ -1555,9 +1583,9 @@ version = "1.5.0" [[deps.OpenSSL_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "87510f7292a2b21aeff97912b0898f9553cc5c2c" +git-tree-sha1 = "2ae7d4ddec2e13ad3bddf5c0796f7547cf682391" uuid = "458c3c95-2e84-50aa-8efc-19380b2a3a95" -version = "3.5.1+0" +version = "3.5.2+0" [[deps.OpenSpecFun_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl"] @@ -1567,9 +1595,9 @@ version = "0.5.6+0" [[deps.OptimalControl]] deps = ["ADNLPModels", "CTBase", "CTDirect", "CTFlows", "CTModels", "CTParser", "CommonSolve", "DocStringExtensions", "ExaModels"] -git-tree-sha1 = "811aefbb89810f672a92f34a9601d6d7d1a9de38" +git-tree-sha1 = "26fa08ea1f9ce6242d19a637ea7390288f242029" uuid = "5f98b655-cc9a-415a-b60e-744165666948" -version = "1.1.1" +version = "1.1.3" [[deps.Opus_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -1583,28 +1611,28 @@ uuid = "bac558e1-5e72-5ebc-8fee-abe8a469f55d" version = "1.8.1" [[deps.OrdinaryDiffEq]] -deps = ["ADTypes", "Adapt", "ArrayInterface", "DataStructures", "DiffEqBase", "DocStringExtensions", "EnumX", "ExponentialUtilities", "FastBroadcast", "FastClosures", "FillArrays", "FiniteDiff", "ForwardDiff", "FunctionWrappersWrappers", "InteractiveUtils", "LineSearches", "LinearAlgebra", "LinearSolve", "Logging", "MacroTools", "MuladdMacro", 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"MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqNonlinearSolve", "RecursiveArrayTools", "Reexport", "SciMLBase", "TruncatedStacktraces"] -git-tree-sha1 = "62327171ae40737b7874d4bdf70e0a213d60086a" +git-tree-sha1 = "20caa72c004414435fb5769fadb711e96ed5bcd4" uuid = "2d112036-d095-4a1e-ab9a-08536f3ecdbf" -version = "1.4.0" +version = "1.7.0" [[deps.OrdinaryDiffEqSSPRK]] -deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "Static", "StaticArrays"] -git-tree-sha1 = "651756c030df7a1d49ad484288937f8c398e8a08" +deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "Static", "StaticArrays"] +git-tree-sha1 = "3bce87977264916bd92455754ab336faec68bf8a" uuid = "669c94d9-1f4b-4b64-b377-1aa079aa2388" -version = "1.3.0" +version = "1.7.0" [[deps.OrdinaryDiffEqStabilizedIRK]] -deps = ["ADTypes", "DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqNonlinearSolve", "RecursiveArrayTools", "Reexport", "StaticArrays"] -git-tree-sha1 = "111c23b68ad644b47e38242af920d5805c7bedb1" +deps = ["ADTypes", "DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "OrdinaryDiffEqDifferentiation", "OrdinaryDiffEqNonlinearSolve", "OrdinaryDiffEqStabilizedRK", "RecursiveArrayTools", "Reexport", "SciMLBase", "StaticArrays"] +git-tree-sha1 = "75abe7462f4b0b2a2463bb512c8a5458bbd39185" uuid = "e3e12d00-db14-5390-b879-ac3dd2ef6296" -version = "1.3.0" +version = "1.6.0" [[deps.OrdinaryDiffEqStabilizedRK]] -deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "RecursiveArrayTools", "Reexport", "StaticArrays"] -git-tree-sha1 = "8b54bcaf8634548bd13c0bd9a0522f15e5438b67" +deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "RecursiveArrayTools", "Reexport", "SciMLBase", "StaticArrays"] +git-tree-sha1 = "7e94d3d1b3528b4bcf9e0248198ee0a2fd65a697" uuid = "358294b1-0aab-51c3-aafe-ad5ab194a2ad" -version = "1.2.0" +version = "1.4.0" [[deps.OrdinaryDiffEqSymplecticRK]] -deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "RecursiveArrayTools", "Reexport"] -git-tree-sha1 = "0d3e0527149d7ece68850c51de67e99bc4477b1b" +deps = ["DiffEqBase", "FastBroadcast", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "RecursiveArrayTools", "Reexport", "SciMLBase"] +git-tree-sha1 = "e8dd5ab225287947016dc144a5ded1fb83885638" uuid = "fa646aed-7ef9-47eb-84c4-9443fc8cbfa8" -version = "1.4.0" +version = "1.7.0" [[deps.OrdinaryDiffEqTsit5]] -deps = ["DiffEqBase", "FastBroadcast", "LinearAlgebra", "MuladdMacro", "OrdinaryDiffEqCore", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "Static", "TruncatedStacktraces"] -git-tree-sha1 = "d0b069075f4a5e54b29e412419e5a733a83e6240" +deps = ["DiffEqBase", "FastBroadcast", "LinearAlgebra", "MuladdMacro", "OrdinaryDiffEqCore", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "Static", "TruncatedStacktraces"] +git-tree-sha1 = "778c7d379265f17f40dbe9aaa6f6a2a08bc7fa3e" uuid = "b1df2697-797e-41e3-8120-5422d3b24e4a" -version = "1.2.0" +version = "1.5.0" [[deps.OrdinaryDiffEqVerner]] -deps = ["DiffEqBase", "FastBroadcast", "LinearAlgebra", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "Static", "TruncatedStacktraces"] -git-tree-sha1 = "91f0a004785791c8c538d34a67c19cf3f7776e85" +deps = ["DiffEqBase", "FastBroadcast", "LinearAlgebra", "MuladdMacro", "OrdinaryDiffEqCore", "Polyester", "PrecompileTools", "Preferences", "RecursiveArrayTools", "Reexport", "SciMLBase", "Static", "TruncatedStacktraces"] +git-tree-sha1 = "185578fa7c38119d4318326f9375f1cba0f0ce53" uuid = "79d7bb75-1356-48c1-b8c0-6832512096c2" -version = "1.3.0" +version = "1.6.0" [[deps.PCRE2_jll]] deps = ["Artifacts", "Libdl"] @@ -1783,9 +1815,9 @@ 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"] @@ -1827,10 +1859,10 @@ uuid = "995b91a9-d308-5afd-9ec6-746e21dbc043" 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 = "3db9167c618b290a05d4345ca70de6d95304a32a" +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", "Unzip"] +git-tree-sha1 = "12ce661880f8e309569074a61d3767e5756a199f" uuid = "91a5bcdd-55d7-5caf-9e0b-520d859cae80" -version = "1.40.17" +version = "1.41.1" [deps.Plots.extensions] FileIOExt = "FileIO" @@ -1865,13 +1897,14 @@ uuid = "2dfb63ee-cc39-5dd5-95bd-886bf059d720" version = "1.4.3" [[deps.PreallocationTools]] -deps = ["Adapt", "ArrayInterface", "ForwardDiff"] -git-tree-sha1 = "2cc315bb7f6e4d59081bad744cdb911d6374fc7f" +deps = ["Adapt", "ArrayInterface", "PrecompileTools"] +git-tree-sha1 = "c05b4c6325262152483a1ecb6c69846d2e01727b" uuid = "d236fae5-4411-538c-8e31-a6e3d9e00b46" -version = "0.4.29" -weakdeps = ["ReverseDiff", "SparseConnectivityTracer"] +version = "0.4.34" +weakdeps = ["ForwardDiff", "ReverseDiff", "SparseConnectivityTracer"] [deps.PreallocationTools.extensions] + PreallocationToolsForwardDiffExt = "ForwardDiff" PreallocationToolsReverseDiffExt = "ReverseDiff" PreallocationToolsSparseConnectivityTracerExt = "SparseConnectivityTracer" @@ -1883,9 +1916,9 @@ version = "1.2.1" [[deps.Preferences]] deps = ["TOML"] -git-tree-sha1 = "9306f6085165d270f7e3db02af26a400d580f5c6" +git-tree-sha1 = "0f27480397253da18fe2c12a4ba4eb9eb208bf3d" uuid = "21216c6a-2e73-6563-6e65-726566657250" -version = "1.4.3" +version = "1.5.0" [[deps.PrettyTables]] deps = ["Crayons", "LaTeXStrings", "Markdown", "PrecompileTools", "Printf", "Reexport", "StringManipulation", "Tables"] @@ -1970,10 +2003,10 @@ uuid = "01d81517-befc-4cb6-b9ec-a95719d0359c" version = "0.6.12" [[deps.RecursiveArrayTools]] -deps = ["Adapt", "ArrayInterface", "DocStringExtensions", "GPUArraysCore", "IteratorInterfaceExtensions", "LinearAlgebra", "RecipesBase", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface", "Tables"] -git-tree-sha1 = "f8726bd5a8b7f5f5d3f6c0ce4793454a599b5243" +deps = ["Adapt", "ArrayInterface", "DocStringExtensions", "GPUArraysCore", "LinearAlgebra", "RecipesBase", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface"] +git-tree-sha1 = "96bef5b9ac123fff1b379acf0303cf914aaabdfd" uuid = "731186ca-8d62-57ce-b412-fbd966d074cd" -version = "3.36.0" +version = "3.37.1" [deps.RecursiveArrayTools.extensions] RecursiveArrayToolsFastBroadcastExt = "FastBroadcast" @@ -1984,6 +2017,7 @@ version = "3.36.0" RecursiveArrayToolsReverseDiffExt = ["ReverseDiff", "Zygote"] RecursiveArrayToolsSparseArraysExt = ["SparseArrays"] RecursiveArrayToolsStructArraysExt = "StructArrays" + RecursiveArrayToolsTablesExt = ["Tables"] RecursiveArrayToolsTrackerExt = "Tracker" RecursiveArrayToolsZygoteExt = "Zygote" @@ -1996,6 +2030,7 @@ version = "3.36.0" ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267" SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" StructArrays = "09ab397b-f2b6-538f-b94a-2f83cf4a842a" + Tables = "bd369af6-aec1-5ad0-b16a-f7cc5008161c" Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c" Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f" @@ -2050,49 +2085,70 @@ uuid = "319450e9-13b8-58e8-aa9f-8fd1420848ab" version = "2025.5.20+0" [[deps.SciMLBase]] -deps = ["ADTypes", "Accessors", "Adapt", "ArrayInterface", "CommonSolve", "ConstructionBase", "Distributed", "DocStringExtensions", "EnumX", "FunctionWrappersWrappers", "IteratorInterfaceExtensions", "LinearAlgebra", "Logging", "Markdown", "Moshi", "PrecompileTools", "Preferences", "Printf", "RecipesBase", "RecursiveArrayTools", "Reexport", "RuntimeGeneratedFunctions", "SciMLOperators", "SciMLStructures", "StaticArraysCore", "Statistics", "SymbolicIndexingInterface"] -git-tree-sha1 = "c056c723b68700fec386dfde8c577089df720c8e" +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 = "16fa030fb4bd4df373a677eca0460c3eee791ab2" uuid = "0bca4576-84f4-4d90-8ffe-ffa030f20462" -version = "2.108.0" +version = "2.120.0" [deps.SciMLBase.extensions] SciMLBaseChainRulesCoreExt = "ChainRulesCore" + SciMLBaseDistributionsExt = "Distributions" + SciMLBaseEnzymeExt = "Enzyme" + SciMLBaseForwardDiffExt = "ForwardDiff" SciMLBaseMLStyleExt = "MLStyle" SciMLBaseMakieExt = "Makie" + SciMLBaseMeasurementsExt = "Measurements" + SciMLBaseMonteCarloMeasurementsExt = "MonteCarloMeasurements" + SciMLBaseMooncakeExt = "Mooncake" SciMLBasePartialFunctionsExt = "PartialFunctions" SciMLBasePyCallExt = "PyCall" SciMLBasePythonCallExt = "PythonCall" SciMLBaseRCallExt = "RCall" + SciMLBaseReverseDiffExt = "ReverseDiff" + SciMLBaseTrackerExt = "Tracker" SciMLBaseZygoteExt = ["Zygote", "ChainRulesCore"] [deps.SciMLBase.weakdeps] ChainRules = "082447d4-558c-5d27-93f4-14fc19e9eca2" ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" + Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f" + Enzyme = "7da242da-08ed-463a-9acd-ee780be4f1d9" + ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210" MLStyle = "d8e11817-5142-5d16-987a-aa16d5891078" Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a" + Measurements = "eff96d63-e80a-5855-80a2-b1b0885c5ab7" + MonteCarloMeasurements = "0987c9cc-fe09-11e8-30f0-b96dd679fdca" + Mooncake = "da2b9cff-9c12-43a0-ae48-6db2b0edb7d6" PartialFunctions = "570af359-4316-4cb7-8c74-252c00c2016b" PyCall = "438e738f-606a-5dbb-bf0a-cddfbfd45ab0" PythonCall = "6099a3de-0909-46bc-b1f4-468b9a2dfc0d" RCall = "6f49c342-dc21-5d91-9882-a32aef131414" + ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267" + Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c" Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f" [[deps.SciMLJacobianOperators]] deps = ["ADTypes", "ArrayInterface", "ConcreteStructs", "ConstructionBase", "DifferentiationInterface", "FastClosures", "LinearAlgebra", "SciMLBase", "SciMLOperators"] -git-tree-sha1 = "3414071e3458f3065de7fa5aed55283b236b4907" +git-tree-sha1 = "a273b291c90909ba6fe08402dd68e09aae423008" uuid = "19f34311-ddf3-4b8b-af20-060888a46c0e" -version = "0.1.8" +version = "0.1.11" [[deps.SciMLOperators]] deps = ["Accessors", "ArrayInterface", "DocStringExtensions", "LinearAlgebra", "MacroTools"] -git-tree-sha1 = "7d3a1519dc4d433a6b20035eaff20bde8be77c66" +git-tree-sha1 = "024d829102878141aaee5cf8f8288bcabd2f57a0" uuid = "c0aeaf25-5076-4817-a8d5-81caf7dfa961" -version = "1.4.0" +version = "1.7.2" weakdeps = ["SparseArrays", "StaticArraysCore"] [deps.SciMLOperators.extensions] SciMLOperatorsSparseArraysExt = "SparseArrays" SciMLOperatorsStaticArraysCoreExt = "StaticArraysCore" +[[deps.SciMLPublic]] +git-tree-sha1 = "ed647f161e8b3f2973f24979ec074e8d084f1bee" +uuid = "431bcebd-1456-4ced-9d72-93c2757fff0b" +version = "1.0.0" + [[deps.SciMLStructures]] deps = ["ArrayInterface"] git-tree-sha1 = "566c4ed301ccb2a44cbd5a27da5f885e0ed1d5df" @@ -2139,19 +2195,17 @@ version = "1.2.0" [[deps.SimpleNonlinearSolve]] deps = ["ADTypes", "ArrayInterface", "BracketingNonlinearSolve", "CommonSolve", "ConcreteStructs", "DifferentiationInterface", "FastClosures", "FiniteDiff", "ForwardDiff", "LineSearch", "LinearAlgebra", "MaybeInplace", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase", "Setfield", "StaticArraysCore"] -git-tree-sha1 = "09d986e27a606f172c5b6cffbd8b8b2f10bf1c75" +git-tree-sha1 = "782c67176b473abf62a6786399c4b7ddcc1a2d77" uuid = "727e6d20-b764-4bd8-a329-72de5adea6c7" -version = "2.7.0" +version = "2.8.0" [deps.SimpleNonlinearSolve.extensions] SimpleNonlinearSolveChainRulesCoreExt = "ChainRulesCore" - SimpleNonlinearSolveDiffEqBaseExt = "DiffEqBase" SimpleNonlinearSolveReverseDiffExt = "ReverseDiff" SimpleNonlinearSolveTrackerExt = "Tracker" [deps.SimpleNonlinearSolve.weakdeps] ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4" - DiffEqBase = "2b5f629d-d688-5b77-993f-72d75c75574e" ReverseDiff = "37e2e3b7-166d-5795-8a7a-e32c996b4267" Tracker = "9f7883ad-71c0-57eb-9f7f-b5c9e6d3789c" @@ -2183,17 +2237,19 @@ version = "1.11.0" [[deps.SparseConnectivityTracer]] deps = ["ADTypes", "DocStringExtensions", "FillArrays", "LinearAlgebra", "Random", "SparseArrays"] -git-tree-sha1 = "7bd2b8981cc57adcf5cf1add282aba2713a7058f" +git-tree-sha1 = "3c3a42a29f696f16273741ffe589b4003f539088" uuid = "9f842d2f-2579-4b1d-911e-f412cf18a3f5" -version = "1.0.0" +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" @@ -2232,10 +2288,10 @@ uuid = "860ef19b-820b-49d6-a774-d7a799459cd3" version = "1.0.3" [[deps.Static]] -deps = ["CommonWorldInvalidations", "IfElse", "PrecompileTools"] -git-tree-sha1 = "f737d444cb0ad07e61b3c1bef8eb91203c321eff" +deps = ["CommonWorldInvalidations", "IfElse", "PrecompileTools", "SciMLPublic"] +git-tree-sha1 = "1e44e7b1dbb5249876d84c32466f8988a6b41bbb" uuid = "aedffcd0-7271-4cad-89d0-dc628f76c6d3" -version = "1.2.0" +version = "1.3.0" [[deps.StaticArrayInterface]] deps = ["ArrayInterface", "Compat", "IfElse", "LinearAlgebra", "PrecompileTools", "Static"] @@ -2250,9 +2306,9 @@ weakdeps = ["OffsetArrays", "StaticArrays"] [[deps.StaticArrays]] deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"] -git-tree-sha1 = "cbea8a6bd7bed51b1619658dec70035e07b8502f" +git-tree-sha1 = "b8693004b385c842357406e3af647701fe783f98" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "1.9.14" +version = "1.9.15" weakdeps = ["ChainRulesCore", "Statistics"] [deps.StaticArrays.extensions] @@ -2288,9 +2344,9 @@ version = "0.34.6" [[deps.StrideArraysCore]] deps = ["ArrayInterface", "CloseOpenIntervals", "IfElse", "LayoutPointers", "LinearAlgebra", "ManualMemory", "SIMDTypes", "Static", "StaticArrayInterface", "ThreadingUtilities"] -git-tree-sha1 = "f35f6ab602df8413a50c4a25ca14de821e8605fb" +git-tree-sha1 = "83151ba8065a73f53ca2ae98bc7274d817aa30f2" uuid = "7792a7ef-975c-4747-a70f-980b88e8d1da" -version = "0.5.7" +version = "0.5.8" [[deps.StringManipulation]] deps = ["PrecompileTools"] @@ -2318,10 +2374,14 @@ uuid = "fd094767-a336-5f1f-9728-57cf17d0bbfb" version = "0.2.8" [[deps.SymbolicIndexingInterface]] -deps = ["Accessors", "ArrayInterface", "PrettyTables", "RuntimeGeneratedFunctions", "StaticArraysCore"] -git-tree-sha1 = "59ca6eddaaa9849e7de9fd1153b6faf0b1db7b80" +deps = ["Accessors", "ArrayInterface", "RuntimeGeneratedFunctions", "StaticArraysCore"] +git-tree-sha1 = "b19cf024a2b11d72bef7c74ac3d1cbe86ec9e4ed" uuid = "2efcf032-c050-4f8e-a9bb-153293bab1f5" -version = "0.3.42" +version = "0.3.44" +weakdeps = ["PrettyTables"] + + [deps.SymbolicIndexingInterface.extensions] + SymbolicIndexingInterfacePrettyTablesExt = "PrettyTables" [[deps.TOML]] deps = ["Dates"] @@ -2388,7 +2448,7 @@ version = "1.4.0" [[deps.Tutorials]] path = "/Users/ocots/Research/logiciels/dev/control-toolbox/Tutorials" uuid = "cb10daa6-a5e5-4c25-a171-ae181b8ea3c9" -version = "0.1.4" +version = "0.3.0" [[deps.URIs]] git-tree-sha1 = "bef26fb046d031353ef97a82e3fdb6afe7f21b1a" @@ -2415,25 +2475,6 @@ git-tree-sha1 = "53915e50200959667e78a92a418594b428dffddf" uuid = "1cfade01-22cf-5700-b092-accc4b62d6e1" version = "0.4.1" -[[deps.Unitful]] -deps = ["Dates", "LinearAlgebra", "Random"] -git-tree-sha1 = "6258d453843c466d84c17a58732dda5deeb8d3af" -uuid = "1986cc42-f94f-5a68-af5c-568840ba703d" -version = "1.24.0" -weakdeps = ["ConstructionBase", "ForwardDiff", "InverseFunctions", "Printf"] - - [deps.Unitful.extensions] - ConstructionBaseUnitfulExt = "ConstructionBase" - ForwardDiffExt = "ForwardDiff" - InverseFunctionsUnitfulExt = "InverseFunctions" - PrintfExt = "Printf" - -[[deps.UnitfulLatexify]] -deps = ["LaTeXStrings", "Latexify", "Unitful"] -git-tree-sha1 = "af305cc62419f9bd61b6644d19170a4d258c7967" -uuid = "45397f5d-5981-4c77-b2b3-fc36d6e9b728" -version = "1.7.0" - [[deps.Unzip]] git-tree-sha1 = "ca0969166a028236229f63514992fc073799bb78" uuid = "41fe7b60-77ed-43a1-b4f0-825fd5a5650d" @@ -2457,6 +2498,12 @@ git-tree-sha1 = "c1a7aa6219628fcd757dede0ca95e245c5cd9511" uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" version = "1.0.0" +[[deps.XML2_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"] +git-tree-sha1 = "59071150afa35787c1656ba234cf03fdf8e2603f" +uuid = "02c8fc9c-b97f-50b9-bbe4-9be30ff0a78a" +version = "2.13.8+0" + [[deps.XZ_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] git-tree-sha1 = "fee71455b0aaa3440dfdd54a9a36ccef829be7d4" @@ -2535,6 +2582,12 @@ git-tree-sha1 = "7ed9347888fac59a618302ee38216dd0379c480d" uuid = "ea2f1a96-1ddc-540d-b46f-429655e07cfa" version = "0.9.12+0" +[[deps.Xorg_libpciaccess_jll]] +deps = ["Artifacts", "JLLWrappers", "Libdl", "Zlib_jll"] +git-tree-sha1 = "4909eb8f1cbf6bd4b1c30dd18b2ead9019ef2fad" +uuid = "a65dc6b1-eb27-53a1-bb3e-dea574b5389e" +version = "0.18.1+0" + [[deps.Xorg_libxcb_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libXau_jll", "Xorg_libXdmcp_jll"] git-tree-sha1 = "bfcaf7ec088eaba362093393fe11aa141fa15422" diff --git a/docs/src/assets/Project.toml b/docs/src/assets/Project.toml index a646f9f..550ebeb 100644 --- a/docs/src/assets/Project.toml +++ b/docs/src/assets/Project.toml @@ -19,21 +19,21 @@ Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb" Tutorials = "cb10daa6-a5e5-4c25-a171-ae181b8ea3c9" [compat] -BenchmarkTools = "1.6" -DataFrames = "1.7" +BenchmarkTools = "1" +DataFrames = "1" DifferentiationInterface = "0.7" -Documenter = "1.14" -DocumenterInterLinks = "1.1" +Documenter = "1" +DocumenterInterLinks = "1" ForwardDiff = "0.10, 1" LinearAlgebra = "1" -MINPACK = "1.3" +MINPACK = "1" MadNLP = "0.8" NLPModels = "0.21" NLPModelsIpopt = "0.10" -NonlinearSolve = "4.10" -OptimalControl = "1.1" +NonlinearSolve = "4" +OptimalControl = "1" OrdinaryDiffEq = "6" -Plots = "1.40" +Plots = "1" Printf = "1" Suppressor = "0.2" julia = "1.10" diff --git a/docs/src/tutorial-discretisation.md b/docs/src/tutorial-discretisation.md index db799d4..cba2803 100644 --- a/docs/src/tutorial-discretisation.md +++ b/docs/src/tutorial-discretisation.md @@ -154,7 +154,7 @@ for adnlp_backend in backends adnlp_backend=$adnlp_backend, ) docp = bt.value - nlp = model(docp) + nlp = nlp_model(docp) prepa_time = bt.time # Get the number of non-zero elements diff --git a/docs/src/tutorial-nlp.md b/docs/src/tutorial-nlp.md index d964680..dc20885 100644 --- a/docs/src/tutorial-nlp.md +++ b/docs/src/tutorial-nlp.md @@ -49,10 +49,10 @@ docp = direct_transcription(ocp) nothing # hide ``` -and get the NLP model with [`model`](@extref CTDirect.model): +and get the NLP model with [`nlp_model`](@extref CTDirect.nlp_model): ```@example main-nlp -nlp = model(docp) +nlp = nlp_model(docp) nothing # hide ``` From b0597f21a87ed3a9fd67627e3bc3b8fbcd1715e5 Mon Sep 17 00:00:00 2001 From: Olivier Cots Date: Sat, 27 Sep 2025 00:15:32 +0200 Subject: [PATCH 4/7] goddard is draft --- docs/src/tutorial-discretisation.md | 6 +++--- docs/src/tutorial-goddard.md | 3 +++ docs/src/tutorial-mam.md | 4 ++-- docs/src/tutorial-mpc.md | 3 +++ 4 files changed, 11 insertions(+), 5 deletions(-) diff --git a/docs/src/tutorial-discretisation.md b/docs/src/tutorial-discretisation.md index cba2803..b349100 100644 --- a/docs/src/tutorial-discretisation.md +++ b/docs/src/tutorial-discretisation.md @@ -60,12 +60,12 @@ nothing # hide ## Discretisation schemes -When calling `solve`, the option `disc_method=...` can be used to specify the discretization scheme. In addition to the default implicit `:trapeze` method (also known as Crank–Nicolson), other available options include the implicit `:midpoint` method, and Gauss–Legendre collocation schemes with 2 and 3 stages: `:gauss_legendre_2` and `:gauss_legendre_3`, of order 4 and 6 respectively. Note that higher-order methods typically result in larger NLP problems for the same number of time steps, and their accuracy also depends on the smoothness of the problem. +When calling `solve`, the option `disc_method=...` can be used to specify the discretization scheme. In addition to the default implicit `:midpoint` method, other available options include the implicit `:trapeze` method (also known as Crank–Nicolson), and Gauss–Legendre collocation schemes with 2 and 3 stages: `:gauss_legendre_2` and `:gauss_legendre_3`, of order 4 and 6 respectively. Note that higher-order methods typically result in larger NLP problems for the same number of time steps, and their accuracy also depends on the smoothness of the problem. -Let us first solve the problem with the default `:trapeze` method and display the solution. +Let us first solve the problem with the default `:midpoint` method and display the solution. ```@example main-disc -sol = solve(ocp; disc_method=:trapeze, display=false) +sol = solve(ocp; disc_method=:midpoint, display=false) plot(sol; size=(800, 800)) ``` diff --git a/docs/src/tutorial-goddard.md b/docs/src/tutorial-goddard.md index 09ae6d3..07b7464 100644 --- a/docs/src/tutorial-goddard.md +++ b/docs/src/tutorial-goddard.md @@ -1,3 +1,6 @@ +```@meta +Draft = true +``` # [Direct and indirect methods for the Goddard problem](@id tutorial-goddard) ## Introduction diff --git a/docs/src/tutorial-mam.md b/docs/src/tutorial-mam.md index af28c74..4f856f1 100644 --- a/docs/src/tutorial-mam.md +++ b/docs/src/tutorial-mam.md @@ -106,7 +106,7 @@ To find the maximum likelihood path, we also need to minimize the transient time ```@example main-mam objectives = [] Ts = range(1,100,100) -sol = solve(ocp(Ts[1]); display=false, init=init, grid_size=50) +sol = solve(ocp(Ts[1]); display=false, init=init, grid_size=200) println(" Time Objective Iterations") for T=Ts global sol = solve(ocp(T); display=false, init=sol, grid_size=1000, tol=1e-8) @@ -119,7 +119,7 @@ end T_min = Ts[argmin(objectives)] plt1 = scatter(Ts, log10.(objectives), xlabel="Time", label="Objective (log10)") vline!(plt1, [T_min], label="Minimum", z_order=:back) -plt2 = scatter(Ts[20:100], log10.(objectives[20:100]), xlabel="Time", label="Objective (log10)") +plt2 = scatter(Ts[40:100], log10.(objectives[40:100]), xlabel="Time", label="Objective (log10)") vline!(plt2, [T_min], label="Minimum", z_order=:back) plot(plt1, plt2, layout=(2,1), size=(800,800)) ``` diff --git a/docs/src/tutorial-mpc.md b/docs/src/tutorial-mpc.md index 0b6ca51..25d6e90 100644 --- a/docs/src/tutorial-mpc.md +++ b/docs/src/tutorial-mpc.md @@ -1,3 +1,6 @@ +```@meta +Draft = false +``` # Navigation problem, MPC approach We consider a ship in a constant current $w=(w_x,w_y)$, where $\|w\|<1$. From 24bbb311a6c31c11f8215b90f5604ca8c98e831c Mon Sep 17 00:00:00 2001 From: Olivier Cots Date: Sat, 27 Sep 2025 00:37:53 +0200 Subject: [PATCH 5/7] review all the tutos --- docs/Project.toml | 1 - docs/src/tutorial-goddard.md | 3 --- docs/src/tutorial-mpc.md | 44 ++---------------------------------- docs/src/tutorial-nlp.md | 8 ++----- 4 files changed, 4 insertions(+), 52 deletions(-) diff --git a/docs/Project.toml b/docs/Project.toml index 550ebeb..5e19309 100644 --- a/docs/Project.toml +++ b/docs/Project.toml @@ -16,7 +16,6 @@ OrdinaryDiffEq = "1dea7af3-3e70-54e6-95c3-0bf5283fa5ed" Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80" Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7" Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb" -Tutorials = "cb10daa6-a5e5-4c25-a171-ae181b8ea3c9" [compat] BenchmarkTools = "1" diff --git a/docs/src/tutorial-goddard.md b/docs/src/tutorial-goddard.md index 07b7464..09ae6d3 100644 --- a/docs/src/tutorial-goddard.md +++ b/docs/src/tutorial-goddard.md @@ -1,6 +1,3 @@ -```@meta -Draft = true -``` # [Direct and indirect methods for the Goddard problem](@id tutorial-goddard) ## Introduction diff --git a/docs/src/tutorial-mpc.md b/docs/src/tutorial-mpc.md index 25d6e90..e8d436d 100644 --- a/docs/src/tutorial-mpc.md +++ b/docs/src/tutorial-mpc.md @@ -1,6 +1,3 @@ -```@meta -Draft = false -``` # Navigation problem, MPC approach We consider a ship in a constant current $w=(w_x,w_y)$, where $\|w\|<1$. @@ -146,15 +143,13 @@ function solve(t0, x0, y0, θ0, xf, yf, θf, w; u ∈ R, control -1 ≤ u(t) ≤ 1 - - -2 ≤ x(t) ≤ 6 + -2 ≤ x(t) ≤ 4.25 -2 ≤ y(t) ≤ 8 - -2π ≤ x(t) ≤ 2π q(t0) == [x0, y0, θ0] q(tf) == [xf, yf, θf] - q̇(t) == [w[1]+cos(θ(t)), + q̇(t) == [ w[1]+cos(θ(t)), w[2]+sin(θ(t)), u(t)] @@ -405,38 +400,3 @@ plot(plt_q, plt_u; plot_title="Simulation with Current Model" ) ``` - -## Limitations - -If you use a discretization method other than `:euler`, the solver may converge to a local solution that is not globally optimal. - -```@example main-mpc -# Resolution -t, x, y, θ, u, tf, iter, cons = solve(t0, x0, y0, θ0, xf, yf, θf, current(x0, y0); - display=false, disc_method=:gauss_legendre_3); - -println("Iterations: ", iter) -println("Constraints violation: ", cons) -println("tf: ", tf) -``` - -```@example main-mpc -# Displaying the trajectory -plt_q = plot(xlims=(-2, 6), ylims=(-1, 8), aspect_ratio=1, xlabel="x", ylabel="y") -plot_state!(plt_q, x0, y0, θ0; color=2) -plot_state!(plt_q, xf, yf, θf; color=2) -plot_current!(plt_q; current=(x, y) -> current(x0, y0)) -plot_trajectory!(plt_q, t, x, y, θ) - -# Displaying the control -plt_u = plot(t, u; color=1, legend=false, linewidth=2, xlabel="t", ylabel="u") - -# Final display -plot(plt_q, plt_u; - layout=(1, 2), - size=(1200, 600), - leftmargin=5mm, - bottommargin=5mm, - plot_title="Constant Current Simulation" -) -``` \ No newline at end of file diff --git a/docs/src/tutorial-nlp.md b/docs/src/tutorial-nlp.md index dc20885..8ec5d66 100644 --- a/docs/src/tutorial-nlp.md +++ b/docs/src/tutorial-nlp.md @@ -73,11 +73,7 @@ nothing # hide Then, we can build an optimal control problem solution with [`build_OCP_solution`](@extref CTDirect.build_OCP_solution-Tuple{Any}) (note that the multipliers are optional, but the OCP costate will not be retrieved if the multipliers are not provided) and plot it. ```@example main-nlp -sol = build_OCP_solution(docp; - primal=nlp_sol.solution, - dual=nlp_sol.multipliers, - docp_solution=nlp_sol -) +sol = build_OCP_solution(docp, nlp_sol) plot(sol) ``` @@ -87,7 +83,7 @@ Alternatively, we can use [MadNLP.jl](https://madnlp.github.io/MadNLP.jl) to sol ```@example main-nlp using MadNLP -nlp_sol = madnlp(nlp) +nlp_sol = madnlp(nlp; print_level=MadNLP.ERROR) ``` ## Initial guess From 4768066c3ff288901b066c6d86729ea6874a8693 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Caillau Date: Sat, 27 Sep 2025 19:39:24 +0200 Subject: [PATCH 6/7] Change optimization direction from max to min MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit changed max r(tf) to min -r(tf) afte CTDirect update for compatibility with previous code 🤞🏽 --- docs/src/tutorial-goddard.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/src/tutorial-goddard.md b/docs/src/tutorial-goddard.md index 09ae6d3..fafd2bc 100644 --- a/docs/src/tutorial-goddard.md +++ b/docs/src/tutorial-goddard.md @@ -67,7 +67,7 @@ ocp = @def begin # definition of the optimal control problem ẋ(t) == F0(x(t)) + u(t) * F1(x(t)) - r(tf) → max + -r(tf) → min end @@ -389,4 +389,4 @@ plot!(plt, flow_sol, label="indirect") [^1]: R.H. Goddard. A Method of Reaching Extreme Altitudes, volume 71(2) of Smithsonian Miscellaneous Collections. Smithsonian institution, City of Washington, 1919. -[^2]: H. Seywald and E.M. Cliff. Goddard problem in presence of a dynamic pressure limit. Journal of Guidance, Control, and Dynamics, 16(4):776–781, 1993. \ No newline at end of file +[^2]: H. Seywald and E.M. Cliff. Goddard problem in presence of a dynamic pressure limit. Journal of Guidance, Control, and Dynamics, 16(4):776–781, 1993. From 1a8150c42f197163827f17972453aa304c503251 Mon Sep 17 00:00:00 2001 From: Jean-Baptiste Caillau Date: Sat, 27 Sep 2025 20:06:08 +0200 Subject: [PATCH 7/7] Update grid size in Goddard tutorial example --- docs/src/tutorial-goddard.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/src/tutorial-goddard.md b/docs/src/tutorial-goddard.md index fafd2bc..e0df1d5 100644 --- a/docs/src/tutorial-goddard.md +++ b/docs/src/tutorial-goddard.md @@ -95,7 +95,7 @@ nothing # hide We then solve it ```@example main-goddard -direct_sol = solve(ocp; grid_size=100) +direct_sol = solve(ocp; grid_size=250) nothing # hide ```