Revert "KnotHVP trait, field, added to DTO API; threaded through constructors"

Project.toml

@@ -1,6 +1,6 @@
 name = "DirectTrajOpt"
 uuid = "c823fa1f-8872-4af5-b810-2b9b72bbbf56"
-version = "0.9.7"
+version = "0.9.6"
 authors = ["Aaron Trowbridge <aaron.j.trowbridge@gmail.com> and contributors"]
 
 [deps]

src/constraints/_constraints.jl

@@ -209,7 +209,8 @@ function test_constraint(
 
     # Compute finite difference Hessian using full vector (datavec + global_data)
     # Collect to convert from lazy ApplyArray to regular Vector
-    μ∂²g_finite_diff = FiniteDiff.finite_difference_hessian(Z⃗ -> μ'ĝ(Z⃗), collect(vec(traj)))
+    μ∂²g_finite_diff =
+        FiniteDiff.finite_difference_hessian(Z⃗ -> μ'ĝ(Z⃗), collect(vec(traj)))
 
     if show_hessian_diff
         println("\tDifference in Hessian")

src/objectives/_objectives.jl

@@ -14,10 +14,6 @@ export MinimumTimeObjective
 export KnotPointObjective
 export GlobalObjective
 export GlobalKnotPointObjective
-export KnotHVP
-export ConstantLowRankHVP
-export CustomKnotHVP
-export knot_hvp
 
 using ..Constraints
 
@@ -339,7 +335,6 @@ end
 # Additional objectives
 # ----------------------------------------------------------------------------- #
 
-include("knot_hvp.jl")
 include("knot_point_objectives.jl")
 include("global_objectives.jl")
 include("minimum_time_objective.jl")

src/objectives/knot_point_objectives.jl

@@ -25,11 +25,7 @@ where ℓ is evaluated on trajectory variables at each knot point.
 - `times::Vector{Int}`: Time indices where objective is evaluated
 - `params::Vector`: Parameters for each time index
 - `Qs::Vector{Float64}`: Weights for each time index
-- `knot_hvp::Union{Nothing, KnotHVP}`: Optional declarable matrix-free
-  per-knot Hessian-vector product capability (see [`KnotHVP`](@ref)).
-  `nothing` (the default) leaves the existing dense-Hessian behavior
-  unchanged. Set to a `ConstantLowRankHVP` or `CustomKnotHVP` to
-  advertise a matrix-free apply to downstream consumers.
+- `∂²Ls::Vector{SparseMatrixCSC{Float64, Int}}`: Preallocated sparse Hessian storage (one per timestep)
 
 # Constructor
 ```julia
@@ -39,8 +35,7 @@ KnotPointObjective(
     traj::NamedTrajectory,
     params::AbstractVector;
     times::AbstractVector{Int}=1:traj.N,
-    Qs::AbstractVector{Float64}=ones(length(times)),
-    knot_hvp::Union{Nothing, KnotHVP}=nothing,
+    Qs::AbstractVector{Float64}=ones(length(times))
 )
 ```
 
@@ -68,7 +63,6 @@ struct KnotPointObjective <: AbstractObjective
     times::Vector{Int}
     params::Vector
     Qs::Vector{Float64}
-    knot_hvp::Union{Nothing,KnotHVP}
 end
 
 function KnotPointObjective(
@@ -78,7 +72,6 @@ function KnotPointObjective(
     params::AbstractVector;
     times::AbstractVector{Int} = 1:traj.N,
     Qs::AbstractVector{Float64} = ones(length(times)),
-    knot_hvp::Union{Nothing,KnotHVP} = nothing,
 )
     @assert length(Qs) == length(times) "Qs must have the same length as times"
     @assert length(params) == length(times) "params must have the same length as times"
@@ -89,7 +82,6 @@ function KnotPointObjective(
         Vector{Int}(times),
         Vector(params),
         Vector{Float64}(Qs),
-        knot_hvp,
     )
 end
 
@@ -163,11 +155,6 @@ function Base.show(io::IO, obj::KnotPointObjective)
     print(io, "KnotPointObjective on [$vars] at $times_str")
 end
 
-# `knot_hvp` trait specialization — reads the carrier from the struct
-# field. The generic default `knot_hvp(::AbstractObjective, _) = nothing`
-# lives in `knot_hvp.jl`.
-knot_hvp(obj::KnotPointObjective, ::NamedTrajectory) = obj.knot_hvp
-
 # Implement AbstractObjective interface
 
 function objective_value(obj::KnotPointObjective, traj::NamedTrajectory)

test/test_utils.jl

@@ -88,8 +88,12 @@ function named_trajectory_type_1(; free_time = true)
             Δt = ([0.1], [0.30000000000000004]),
         )
     else
-        components =
-            (Ũ⃗ = data[1:8, :], a = data[9:10, :], da = data[11:12, :], dda = data[13:14, :])
+        components = (
+            Ũ⃗ = data[1:8, :],
+            a = data[9:10, :],
+            da = data[11:12, :],
+            dda = data[13:14, :],
+        )
         controls = (:dda,)
         timestep = 0.2
         bounds = (a = ([-1.0, -1.0], [1.0, 1.0]), dda = ([-1.0, -1.0], [1.0, 1.0]))