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)