Ipopt install path + smoke test for LivePulsePlotCallback (0.2a)#245
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Ipopt install path + smoke test for LivePulsePlotCallback (0.2a)#245Rchari1 wants to merge 1 commit into
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…PlotCallback Companion to DirectTrajOpt.jl 0.2a (the Ipopt `intermediate_callback` field). `LivePulsePlotCallback` already subtypes `AbstractIntermediateCallback`, so once DTO's Ipopt backend accepts an `intermediate_callback`, the SAME callback object installs on an Ipopt solve exactly as it does on MadNLP. - live_callbacks.jl docstring: add the `IpoptOptions(intermediate_callback=cb)` install path alongside the existing MadNLP one; note Ipopt needs no RelaxBound-style treatment (full primal always available). - PiccoloMakieExt: add an end-to-end @testitem that attaches LivePulsePlotCallback to an Ipopt SmoothPulseProblem solve and asserts per-iter iter_<N>.png frames are emitted through the callback. Requires DirectTrajOpt with the Ipopt intermediate_callback field (the pin `DirectTrajOpt = "0.9.5"` admits the forthcoming patch release). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Companion to DirectTrajOpt.jl#114 for harmoniqs/amicode#19 (Phase 0′, task 0.2a).
LivePulsePlotCallbackalready subtypesDirectTrajOpt.AbstractIntermediateCallback, so once DTO's Ipopt backend accepts anintermediate_callback(DTO#114), the same callback object installs on an Ipopt solve exactly as it does on MadNLP. This PR documents + tests that path.Change
src/visualizations/live_callbacks.jl— docstring now shows theIpoptOptions(intermediate_callback = cb)install path alongside the existing MadNLP one, and notes Ipopt needs noRelaxBound-style treatment (full primal always available).ext/PiccoloMakieExt.jl— new end-to-end@testitemthat attachesLivePulsePlotCallbackto an IpoptSmoothPulseProblemsolve and asserts per-iteriter_<N>.pngframes are emitted through the callback.No mechanism code changes —
LivePulsePlotCallbackalready reconstructs the trajectory from the primal each iter; this PR proves the Ipopt install path works and pins it with a test.Validation (gpu-dev-v2)
Ran the new smoke test against this branch with DTO#114 dev-coupled: Piccolo tests passed — the Ipopt solve emits per-iter PNGs through
LivePulsePlotCallbackend-to-end.Dependency
Needs DirectTrajOpt with the Ipopt
intermediate_callbackfield (DTO#114). The pinDirectTrajOpt = "0.9.5"already admits the forthcoming patch release (v0.9.7); CI here goes green once that release is registered.🤖 Generated with Claude Code