v0.9.7

DirectTrajOpt v0.9.7

Diff since v0.9.6

Changes

• Ipopt solver backend now supports AbstractIntermediateCallback via a new IpoptOptions.intermediate_callback field, matching existing MadNLP support.
• Added GlobalLinearConstraint for linear relations/bounds on a global block, with infeasible-row detection and sparsity preservation.
• Added a KnotHVP trait/field to the objectives API, threaded through constructors.

Merged pull requests:

• chore(deps): bump julia-actions/cache from 2 to 3 (#105) (@dependabot[bot])
• chore(deps): bump actions/upload-artifact from 4 to 7 (#106) (@dependabot[bot])
• chore(deps): bump codecov/codecov-action from 6 to 7 (#107) (@dependabot[bot])
• chore(deps): bump julia-actions/setup-julia from 2 to 3 (#108) (@dependabot[bot])
• feat: GlobalLinearConstraint — linear relations/bounds on a global block (#111) (@krish-suresh)
• Wire AbstractIntermediateCallback into the Ipopt backend (0.2a) (#114) (@Rchari1)
• KnotHVP trait, field, added to DTO API; threaded through constructors (#115) (@gennadiryan)
• Revert "KnotHVP trait, field, added to DTO API; threaded through constructors" (#116) (@gennadiryan)
• Merge remote-tracking branch 'origin/main' into feat/matrix-free-obj-constr (fixing clobbered workflow updates) (#117) (@gennadiryan)
• chore: bump version to 0.9.7 (#118) (@jack-champagne)

Closed issues:

• Add a KnotHVP capability interface: objectives can declare a matrix-free per-knot HVP (#113)

v0.9.6

DirectTrajOpt v0.9.6

Diff since v0.9.5

Changes

• No functional or API changes to the solver — maintenance release covering benchmarking and documentation infrastructure.

Added

• CI benchmark suites (Ipopt vs MadNLP): full-solve timing, evaluator micro-benchmarks, memory scaling, an allocation profile, and a convergence suite — each publishing a live gh-pages dashboard on tagged releases.
• A documented Benchmarks page in the docs.

Merged pull requests:

• benchmarks: Initial DirectTrajOpt benchmark suite (Ipopt vs MadNLP) (#75) (@jack-champagne)
• benchmarks: convergence suite v1 (Ipopt + MadNLP on X gate) (#93) (@jack-champagne)
• benchmark: alloc profile suite (Ipopt + MadNLP) (#101) (@jack-champagne)
• ci(benchmarks): publish dashboards on v* tags (fix never-publishing gate) (#102) (@jack-champagne)
• ci+docs(benchmarks): run suites on Julia 1.12 + refresh page data (#103) (@jack-champagne)
• ci(alloc): bump alloc-profile timeout to 120 min (1.12 is slower) (#104) (@jack-champagne)
• benchmark(convergence): capture MadNLP iteration count (+bump 0.9.6) (#109) (@jack-champagne)
• chore: autoformat convergence.jl (#110) (@jack-champagne)

v0.9.5

DirectTrajOpt v0.9.5

Diff since v0.9.4

Changes

• Added solver-agnostic AbstractIntermediateCallback abstract type for per-iteration hooks during a solve.
• MadNLPOptions now accepts intermediate_callback (subtype of AbstractIntermediateCallback or MadNLP.AbstractUserCallback) and fixed_variable_treatment fields.
• Reduced per-iteration allocations during NLP objective/jacobian/hessian assembly via trajectory datavec caching.

Merged pull requests:

• ci: gate force_latest_compatible_version to Julia 1.12 (#91) (@jack-champagne)
• ci: gate JET correctness analysis to Julia 1.12.x only (#94) (@jack-champagne)
• ci: allow nightly Julia job to fail without blocking (#96) (@jack-champagne)
• Trajectory datavec now cached during NLP obj/jac/hess assembly callbacks, leaving only constant allocation overhead (#97) (@gennadiryan)
• feat(madnlp): expose intermediate_callback + fixed_variable_treatment (#98) (@jack-champagne)
• bump: v0.9.5 (#99) (@jack-champagne)

v0.9.4

DirectTrajOpt v0.9.4

Diff since v0.9.3

Changes

• Solver: bumped Ipopt diverging_iterates_tol default from 1e8 to 1e20, matching Ipopt's native default. Avoids false-positive "Iterates diverging" exits on smooth-pulse NLPs whose unscaled second derivatives legitimately reach O(1e8).
• Compat: NamedTrajectories 0.9 is now supported alongside 0.8.

Merged pull requests:

• fix(docs): use POSIX [[:space:]] in get_docs_utils.sh for BSD sed (#84) (@jack-champagne)
• chore(ci): retire CompatHelper, switch to Dependabot for Julia + Actions (#85) (@jack-champagne)
• solver(ipopt): bump diverging_iterates_tol default 1e8 → 1e20 (#86) (@jack-champagne)
• ci: add Aqua.jl and JET.jl to test suite (#87) (@jack-champagne)
• fix: address Aqua and JET findings (#88) (@jack-champagne)
• Update NamedTrajectories requirement from 0.8 to 0.8, 0.9 (#90) (@dependabot[bot])

v0.9.3

DirectTrajOpt v0.9.3

Diff since v0.9.2

Added

• fix_global_variable!(constraints, name, value) — companion to fix_trajectory_variable! for pinning time-invariant global variables. Removes any existing BoundsConstraint/EqualityConstraint on the same global to avoid MOI conflicts (an EqualTo set cannot coexist with GreaterThan/LessThan on the same variable). Accepts AbstractVector{<:Real}.

Merged pull requests:

• Chore/coverage improvements (#73) (@gennadiryan)
• feat: add fix_global_variable! for time-invariant globals (#82) (@nguyenston)
• chore: bump version to 0.9.3 (#83) (@nguyenston)

v0.9.2

DirectTrajOpt v0.9.2

Diff since v0.9.1

Merged pull requests:

• Version bump to v0.9.2; add back in previously removed support for SciMLBase v2 (#81) (@gennadiryan)

v0.9.1

DirectTrajOpt v0.9.1

Diff since v0.9.0

Merged pull requests:

• Bump codecov/codecov-action from 5 to 6 (#65) (@dependabot[bot])
• benchmarks: Initial DirectTrajOpt benchmark suite (Ipopt vs MadNLP) (#67) (@jack-champagne)
• Bump julia-actions/setup-julia from 2 to 3 (#72) (@dependabot[bot])
• Add MadNLP pass-through fields (linear_solver, array_type, etc.) (#74) (@jack-champagne)
• CompatHelper: bump compat for OrdinaryDiffEqTsit5 to 2, (keep existing compat) (#77) (@github-actions[bot])
• feat: add fix_global_variable! helper for integrator-agnostic global pinning (#78) (@aarontrowbridge)
• Version bump v0.9.1 (#80) (@gennadiryan)

v0.9.0

DirectTrajOpt v0.9.0

Diff since v0.8.11

Changes

• solve! now dispatches on AbstractSolverOptions rather than concrete IpoptOptions, allowing multiple solver backends behind a single interface.
• Solver module restructured: evaluator.jl and constraint utilities moved from the Ipopt-specific extension into the core Solvers submodule and shared between solvers.
• Default solver options type (_DefaultSolverOptions) is now settable at load time; defaults to IpoptOptions with Ipopt reexported as before.

Added

• MadNLP support via package extension (MadNLPSolverExt), loaded automatically when MadNLP is present. MadNLP is now a [weakdeps], not a hard dependency.
• MadNLPOptions struct, accessible from the top-level DirectTrajOpt module without loading the extension.
• Passthrough for MadNLP-specific solver kwargs (kkt_system, linear_solver, etc.), enabling GPU solves.
• New public exports: AbstractOptimizer, DefaultSolverOptions, _solve, _solve_with_kwargs.
• solve!(prob; options=MadNLPOptions(), kwargs...) public API for solving with MadNLP.
• Cross-solver comparison tests (test/compare_solvers.jl).

Breaking changes

• Ipopt is no longer the only supported solver. DirectTrajOpt has departed from its Ipopt-only design — solver choice is now pluggable via AbstractSolverOptions, with MadNLP shipping as the first additional backend and a candidate to eventually replace Ipopt as the default.
• solve! now dispatches on AbstractSolverOptions rather than concrete IpoptOptions. Custom solver integrations that relied on the old concrete-type signature need adjustment to the new _solve!(prob, options::YourOptions; kwargs...) dispatch pattern.

Merged pull requests:

• MadNLP Integration (#63) (@gennadiryan)

v0.8.11

DirectTrajOpt v0.8.11

Diff since v0.8.10

Changes

• Extended EqualityConstraint to support pinning individual trajectory variables at specific timesteps
• Added fix_trajectory_variable! helper for fixing trajectory variables during optimization

Merged pull requests:

• feat: per-timestep EqualityConstraint and fix_trajectory_variable! (#69) (@aarontrowbridge)
• Bump version to 0.8.11 (#70) (@jack-champagne)

v0.8.10

DirectTrajOpt v0.8.10

Diff since v0.8.9

Changes

• Fix argument order for time-dependent bilinear integrator constructor and docstring

Merged pull requests:

• Bump actions/upload-artifact from 6 to 7 (#61) (@dependabot[bot])
• Time dependent bilinear integrator argument order (#64) (@andgoldschmidt)