diff --git a/Project.toml b/Project.toml index 1a8d9dcdb..f01b2bf31 100644 --- a/Project.toml +++ b/Project.toml @@ -49,3 +49,6 @@ Sockets = "1" Statistics = "1" Tables = "1" julia = "1.10" + +[sources] +OptimalControlProblems = {url = "https://github.com/control-toolbox/OptimalControlProblems.jl", rev = "199-new-problem-bryson-denham"} diff --git a/benchmarks/core-ubuntu-latest.jl b/benchmarks/core-ubuntu-latest.jl index 04887de5e..40656f4d0 100644 --- a/benchmarks/core-ubuntu-latest.jl +++ b/benchmarks/core-ubuntu-latest.jl @@ -4,20 +4,9 @@ function run() results = CTBenchmarks.benchmark(; problems=[ - :beam, - :chain, - :double_oscillator, - # :ducted_fan, - :electric_vehicle, - :glider, - :insurance, - :jackson, - :robbins, - :robot, - :rocket, - :space_shuttle, - :steering, - :vanderpol, + :bryson_denham, + :robertson, + ], solver_models=[:ipopt => [:jump, :adnlp, :exa], :madnlp => [:jump, :adnlp, :exa]], grid_sizes=[200, 500, 1000, 2000], diff --git a/docs/src/assets/benchmarks/core-ubuntu-latest/Manifest.toml b/docs/src/assets/benchmarks/core-ubuntu-latest/Manifest.toml index d2c5291cb..1ccd0564c 100644 --- a/docs/src/assets/benchmarks/core-ubuntu-latest/Manifest.toml +++ b/docs/src/assets/benchmarks/core-ubuntu-latest/Manifest.toml @@ -1,8 +1,8 @@ # This file is machine-generated - editing it directly is not advised -julia_version = "1.11.7" +julia_version = "1.11.9" manifest_format = "2.0" -project_hash = "d9f8266f85c7cd9847b7b315577707b23fa26893" +project_hash = "24e6cc1dce0951fe155b72ae15ad8ff6f87c273e" [[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 = "8be2ae325471fc20b11c27bb34b518541d07dd3a" +git-tree-sha1 = "f7304359109c768cf32dc5fa2d371565bb63b68a" uuid = "47edcb42-4c32-4615-8424-f2b9edc5f35b" -version = "1.19.0" +version = "1.21.0" [deps.ADTypes.extensions] ADTypesChainRulesCoreExt = "ChainRulesCore" @@ -99,9 +99,9 @@ version = "1.1.0" [[deps.BFloat16s]] deps = ["LinearAlgebra", "Printf", "Random"] -git-tree-sha1 = "0a6d6d072cb5f2baeba7667023075801f6ea4a7d" +git-tree-sha1 = "e386db8b4753b42caac75ac81d0a4fe161a68a97" uuid = "ab4f0b2a-ad5b-11e8-123f-65d77653426b" -version = "0.6.0" +version = "0.6.1" [[deps.Base64]] uuid = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f" @@ -185,15 +185,15 @@ version = "0.6.9" [[deps.CTParser]] deps = ["CTBase", "DocStringExtensions", "MLStyle", "OrderedCollections", "Parameters", "Unicode"] -git-tree-sha1 = "48ec8193487a79277ff278752337c4ffb8fff691" +git-tree-sha1 = "2c29ef965e67085690ad56f8758d184877e490e8" uuid = "32681960-a1b1-40db-9bff-a1ca817385d1" -version = "0.7.1" +version = "0.7.2" [[deps.CUDA]] -deps = ["AbstractFFTs", "Adapt", "BFloat16s", "CEnum", "CUDA_Compiler_jll", "CUDA_Driver_jll", "CUDA_Runtime_Discovery", "CUDA_Runtime_jll", "Crayons", "DataFrames", "ExprTools", "GPUArrays", "GPUCompiler", "GPUToolbox", "KernelAbstractions", "LLVM", "LLVMLoopInfo", "LazyArtifacts", "Libdl", "LinearAlgebra", "Logging", "NVTX", "Preferences", "PrettyTables", "Printf", "Random", "Random123", "RandomNumbers", "Reexport", "Requires", "SparseArrays", "StaticArrays", "Statistics", "demumble_jll"] -git-tree-sha1 = "38b6a1fe14fba13cdc0a44ecd2485eb5f7e16ca0" +deps = ["AbstractFFTs", "Adapt", "BFloat16s", "CEnum", "CUDA_Compiler_jll", "CUDA_Driver_jll", "CUDA_Runtime_Discovery", "CUDA_Runtime_jll", "Crayons", "DataFrames", "ExprTools", "GPUArrays", "GPUCompiler", "GPUToolbox", "KernelAbstractions", "LLVM", "LLVMLoopInfo", "LazyArtifacts", "Libdl", "LinearAlgebra", "Logging", "NVTX", "Preferences", "PrettyTables", "Printf", "Random", "Random123", "RandomNumbers", "Reexport", "SparseArrays", "StaticArrays", "Statistics", "demumble_jll"] +git-tree-sha1 = "3fe1fb600b6ec029697416d5851ef0661c538f20" uuid = "052768ef-5323-5732-b1bb-66c8b64840ba" -version = "5.9.4" +version = "5.9.6" [deps.CUDA.extensions] ChainRulesCoreExt = "ChainRulesCore" @@ -209,15 +209,15 @@ version = "5.9.4" [[deps.CUDA_Compiler_jll]] deps = ["Artifacts", "CUDA_Driver_jll", "CUDA_Runtime_jll", "JLLWrappers", "LazyArtifacts", "Libdl", "TOML"] -git-tree-sha1 = "b63428872a0f60d87832f5899369837cd930b76d" +git-tree-sha1 = "e547b2202721853ec06c6d9a71c87426419ba765" uuid = "d1e2174e-dfdc-576e-b43e-73b79eb1aca8" -version = "0.3.0+0" +version = "0.4.1+1" [[deps.CUDA_Driver_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"] -git-tree-sha1 = "2023be0b10c56d259ea84a94dbfc021aa452f2c6" +git-tree-sha1 = "23bf4e60006b78544f753880fbcf1aa158a7669c" uuid = "4ee394cb-3365-5eb0-8335-949819d2adfc" -version = "13.0.2+0" +version = "13.1.0+2" [[deps.CUDA_Runtime_Discovery]] deps = ["Libdl"] @@ -232,10 +232,10 @@ uuid = "76a88914-d11a-5bdc-97e0-2f5a05c973a2" version = "0.19.2+0" [[deps.CUDSS]] -deps = ["CEnum", "CUDA", "CUDSS_jll", "GPUToolbox", "LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "6356218f3c9a7509d1d830b7ec14e870faf65020" +deps = ["CEnum", "CUDA", "CUDA_Runtime_Discovery", "CUDSS_jll", "GPUToolbox", "LinearAlgebra", "SparseArrays"] +git-tree-sha1 = "e0eef65a4ed261d39e8d334f6595efb22a2e4643" uuid = "45b445bb-4962-46a0-9369-b4df9d0f772e" -version = "0.6.1" +version = "0.6.6" [[deps.CUDSS_jll]] deps = ["Artifacts", "CUDA_Runtime_jll", "CompilerSupportLibraries_jll", "JLLWrappers", "LazyArtifacts", "Libdl", "TOML"] @@ -245,9 +245,9 @@ version = "0.7.1+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"] -git-tree-sha1 = "fde3bf89aead2e723284a8ff9cdf5b551ed700e8" +git-tree-sha1 = "a21c5464519504e41e0cbc91f0188e8ca23d7440" uuid = "83423d85-b0ee-5818-9007-b63ccbeb887a" -version = "1.18.5+0" +version = "1.18.5+1" [[deps.ChainRulesCore]] deps = ["Compat", "LinearAlgebra"] @@ -304,9 +304,9 @@ uuid = "5ae59095-9a9b-59fe-a467-6f913c188581" version = "0.13.1" [[deps.CommonSolve]] -git-tree-sha1 = "0eee5eb66b1cf62cd6ad1b460238e60e4b09400c" +git-tree-sha1 = "78ea4ddbcf9c241827e7035c3a03e2e456711470" uuid = "38540f10-b2f7-11e9-35d8-d573e4eb0ff2" -version = "0.2.4" +version = "0.2.6" [[deps.CommonSubexpressions]] deps = ["MacroTools"] @@ -331,9 +331,9 @@ version = "1.1.1+0" [[deps.ConcurrentUtilities]] deps = ["Serialization", "Sockets"] -git-tree-sha1 = "d9d26935a0bcffc87d2613ce14c527c99fc543fd" +git-tree-sha1 = "21d088c496ea22914fe80906eb5bce65755e5ec8" uuid = "f0e56b4a-5159-44fe-b623-3e5288b988bb" -version = "2.5.0" +version = "2.5.1" [[deps.Contour]] git-tree-sha1 = "439e35b0b36e2e5881738abc8857bd92ad6ff9a8" @@ -419,9 +419,9 @@ version = "0.0.20230411+1" [[deps.ExaModels]] deps = ["NLPModels", "Printf", "SolverCore"] -git-tree-sha1 = "2a372f5f8049cc429ddd98cd89247bc51ab954d7" +git-tree-sha1 = "dc835385717dec62837d32ea0f46a8a91bdf00e4" uuid = "1037b233-b668-4ce9-9b63-f9f681f55dd2" -version = "0.9.2" +version = "0.9.3" [deps.ExaModels.extensions] ExaModelsAMDGPU = "AMDGPU" @@ -473,9 +473,9 @@ version = "0.4.5" [[deps.FFMPEG_jll]] deps = ["Artifacts", "Bzip2_jll", "FreeType2_jll", "FriBidi_jll", "JLLWrappers", "LAME_jll", "Libdl", "Ogg_jll", "OpenSSL_jll", "Opus_jll", "PCRE2_jll", "Zlib_jll", "libaom_jll", "libass_jll", "libfdk_aac_jll", "libvorbis_jll", "x264_jll", "x265_jll"] -git-tree-sha1 = "ccc81ba5e42497f4e76553a5545665eed577a663" +git-tree-sha1 = "01ba9d15e9eae375dc1eb9589df76b3572acd3f2" uuid = "b22a6f82-2f65-5046-a5b2-351ab43fb4e5" -version = "8.0.0+0" +version = "8.0.1+0" [[deps.FastClosures]] git-tree-sha1 = "acebe244d53ee1b461970f8910c235b259e772ef" @@ -488,18 +488,20 @@ version = "1.11.0" [[deps.FillArrays]] deps = ["LinearAlgebra"] -git-tree-sha1 = "5bfcd42851cf2f1b303f51525a54dc5e98d408a3" +git-tree-sha1 = "2f979084d1e13948a3352cf64a25df6bd3b4dca3" uuid = "1a297f60-69ca-5386-bcde-b61e274b549b" -version = "1.15.0" +version = "1.16.0" [deps.FillArrays.extensions] FillArraysPDMatsExt = "PDMats" FillArraysSparseArraysExt = "SparseArrays" + FillArraysStaticArraysExt = "StaticArrays" FillArraysStatisticsExt = "Statistics" [deps.FillArrays.weakdeps] PDMats = "90014a1f-27ba-587c-ab20-58faa44d9150" SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf" + StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" [[deps.FixedPointNumbers]] @@ -521,9 +523,9 @@ version = "1.3.7" [[deps.ForwardDiff]] deps = ["CommonSubexpressions", "DiffResults", "DiffRules", "LinearAlgebra", "LogExpFunctions", "NaNMath", "Preferences", "Printf", "Random", "SpecialFunctions"] -git-tree-sha1 = "cd33c7538e68650bd0ddbb3f5bd50a4a0fa95b50" +git-tree-sha1 = "eef4c86803f47dcb61e9b8790ecaa96956fdd8ae" uuid = "f6369f11-7733-5829-9624-2563aa707210" -version = "1.3.0" +version = "1.3.2" weakdeps = ["StaticArrays"] [deps.ForwardDiff.extensions] @@ -553,15 +555,15 @@ version = "1.11.0" [[deps.GLFW_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libglvnd_jll", "Xorg_libXcursor_jll", "Xorg_libXi_jll", "Xorg_libXinerama_jll", "Xorg_libXrandr_jll", "libdecor_jll", "xkbcommon_jll"] -git-tree-sha1 = "fcb0584ff34e25155876418979d4c8971243bb89" +git-tree-sha1 = "b7bfd56fa66616138dfe5237da4dc13bbd83c67f" uuid = "0656b61e-2033-5cc2-a64a-77c0f6c09b89" -version = "3.4.0+2" +version = "3.4.1+0" [[deps.GPUArrays]] -deps = ["Adapt", "GPUArraysCore", "KernelAbstractions", "LLVM", "LinearAlgebra", "Printf", "Random", "Reexport", "ScopedValues", "Serialization", "Statistics"] -git-tree-sha1 = "8ddb438e956891a63a5367d7fab61550fc720026" +deps = ["Adapt", "GPUArraysCore", "KernelAbstractions", "LLVM", "LinearAlgebra", "Printf", "Random", "Reexport", "ScopedValues", "Serialization", "SparseArrays", "Statistics"] +git-tree-sha1 = "6487601563e4a1d1dab796e88b4548bf5544209e" uuid = "0c68f7d7-f131-5f86-a1c3-88cf8149b2d7" -version = "11.2.6" +version = "11.4.1" [deps.GPUArrays.extensions] JLD2Ext = "JLD2" @@ -577,9 +579,9 @@ version = "0.2.0" [[deps.GPUCompiler]] deps = ["ExprTools", "InteractiveUtils", "LLVM", "Libdl", "Logging", "PrecompileTools", "Preferences", "Scratch", "Serialization", "TOML", "Tracy", "UUIDs"] -git-tree-sha1 = "90554fe518adab1b4c8f7a04d26c414482a240ca" +git-tree-sha1 = "966946d226e8b676ca6409454718accb18c34c54" uuid = "61eb1bfa-7361-4325-ad38-22787b887f55" -version = "1.7.4" +version = "1.8.2" [[deps.GPUToolbox]] deps = ["LLVM"] @@ -589,15 +591,21 @@ version = "1.0.0" [[deps.GR]] deps = ["Artifacts", "Base64", "DelimitedFiles", "Downloads", "GR_jll", "HTTP", "JSON", "Libdl", "LinearAlgebra", "Preferences", "Printf", "Qt6Wayland_jll", "Random", "Serialization", "Sockets", "TOML", "Tar", "Test", "p7zip_jll"] -git-tree-sha1 = "f52c27dd921390146624f3aab95f4e8614ad6531" +git-tree-sha1 = "ee0585b62671ce88e48d3409733230b401c9775c" uuid = "28b8d3ca-fb5f-59d9-8090-bfdbd6d07a71" -version = "0.73.18" +version = "0.73.22" + + [deps.GR.extensions] + IJuliaExt = "IJulia" + + [deps.GR.weakdeps] + IJulia = "7073ff75-c697-5162-941a-fcdaad2a7d2a" [[deps.GR_jll]] deps = ["Artifacts", "Bzip2_jll", "Cairo_jll", "FFMPEG_jll", "Fontconfig_jll", "FreeType2_jll", "GLFW_jll", "JLLWrappers", "JpegTurbo_jll", "Libdl", "Libtiff_jll", "Pixman_jll", "Qt6Base_jll", "Zlib_jll", "libpng_jll"] -git-tree-sha1 = "4b0406b866ea9fdbaf1148bc9c0b887e59f9af68" +git-tree-sha1 = "7dd7173f7129a1b6f84e0f03e0890cd1189b0659" uuid = "d2c73de3-f751-5644-a686-071e5b155ba9" -version = "0.73.18+0" +version = "0.73.22+0" [[deps.GettextRuntime_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "Libiconv_jll"] @@ -613,9 +621,9 @@ version = "9.55.1+0" [[deps.Glib_jll]] deps = ["Artifacts", "GettextRuntime_jll", "JLLWrappers", "Libdl", "Libffi_jll", "Libiconv_jll", "Libmount_jll", "PCRE2_jll", "Zlib_jll"] -git-tree-sha1 = "50c11ffab2a3d50192a228c313f05b5b5dc5acb2" +git-tree-sha1 = "24f6def62397474a297bfcec22384101609142ed" uuid = "7746bdde-850d-59dc-9ae8-88ece973131d" -version = "2.86.0+0" +version = "2.86.3+0" [[deps.Graphite2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -659,9 +667,9 @@ version = "0.2.0" [[deps.Hwloc_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "XML2_jll", "Xorg_libpciaccess_jll"] -git-tree-sha1 = "3d468106a05408f9f7b6f161d9e7715159af247b" +git-tree-sha1 = "157e2e5838984449e44af851a52fe374d56b9ada" uuid = "e33a78d0-f292-5ffc-b300-72abe9b543c8" -version = "2.12.2+0" +version = "2.13.0+0" [[deps.InlineStrings]] git-tree-sha1 = "8f3d257792a522b4601c24a577954b0a8cd7334d" @@ -708,9 +716,9 @@ version = "1.3.1" [[deps.Ipopt]] deps = ["Ipopt_jll", "LinearAlgebra", "OpenBLAS32_jll", "PrecompileTools"] -git-tree-sha1 = "b71d66023c875c28881af6749a41df3878bc3fb3" +git-tree-sha1 = "30feb540d41fbc54ca46cc9d811380bf7c8877d9" uuid = "b6b21f68-93f8-5de0-b562-5493be1d77c9" -version = "1.13.0" +version = "1.14.0" weakdeps = ["MathOptInterface"] [deps.Ipopt.extensions] @@ -718,9 +726,9 @@ weakdeps = ["MathOptInterface"] [[deps.Ipopt_jll]] deps = ["ASL_jll", "Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "MUMPS_seq_jll", "SPRAL_jll", "libblastrampoline_jll"] -git-tree-sha1 = "b33cbc78b8d4de87d18fcd705054a82e2999dbac" +git-tree-sha1 = "8e9d217c63a8c8af96949300180ba0558f7f88b5" uuid = "9cc047cb-c261-5740-88fc-0cf96f7bdcc7" -version = "300.1400.1900+0" +version = "300.1400.1901+0" [[deps.IrrationalConstants]] git-tree-sha1 = "b2d91fe939cae05960e760110b328288867b5758" @@ -746,9 +754,9 @@ version = "1.7.1" [[deps.JSON]] deps = ["Dates", "Logging", "Parsers", "PrecompileTools", "StructUtils", "UUIDs", "Unicode"] -git-tree-sha1 = "5b6bb73f555bc753a6153deec3717b8904f5551c" +git-tree-sha1 = "b3ad4a0255688dcb895a52fafbaae3023b588a90" uuid = "682c06a0-de6a-54ab-a142-c8b1cf79cde6" -version = "1.3.0" +version = "1.4.0" [deps.JSON.extensions] JSONArrowExt = ["ArrowTypes"] @@ -756,29 +764,17 @@ version = "1.3.0" [deps.JSON.weakdeps] ArrowTypes = "31f734f8-188a-4ce0-8406-c8a06bd891cd" -[[deps.JSON3]] -deps = ["Dates", "Mmap", "Parsers", "PrecompileTools", "StructTypes", "UUIDs"] -git-tree-sha1 = "411eccfe8aba0814ffa0fdf4860913ed09c34975" -uuid = "0f8b85d8-7281-11e9-16c2-39a750bddbf1" -version = "1.14.3" - - [deps.JSON3.extensions] - JSON3ArrowExt = ["ArrowTypes"] - - [deps.JSON3.weakdeps] - ArrowTypes = "31f734f8-188a-4ce0-8406-c8a06bd891cd" - [[deps.JpegTurbo_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "4255f0032eafd6451d707a51d5f0248b8a165e4d" +git-tree-sha1 = "b6893345fd6658c8e475d40155789f4860ac3b21" uuid = "aacddb02-875f-59d6-b918-886e6ef4fbf8" -version = "3.1.3+0" +version = "3.1.4+0" [[deps.JuMP]] deps = ["LinearAlgebra", "MacroTools", "MathOptInterface", "MutableArithmetics", "OrderedCollections", "PrecompileTools", "Printf", "SparseArrays"] -git-tree-sha1 = "b76f23c45d75e27e3e9cbd2ee68d8e39491052d0" +git-tree-sha1 = "8e4088727b5a130c12b1fedbc316306b6bbf2b9d" uuid = "4076af6c-e467-56ae-b986-b466b2749572" -version = "1.29.3" +version = "1.29.4" [deps.JuMP.extensions] JuMPDimensionalDataExt = "DimensionalData" @@ -794,9 +790,9 @@ version = "0.2.1+0" [[deps.KernelAbstractions]] deps = ["Adapt", "Atomix", "InteractiveUtils", "MacroTools", "PrecompileTools", "Requires", "StaticArrays", "UUIDs"] -git-tree-sha1 = "b5a371fcd1d989d844a4354127365611ae1e305f" +git-tree-sha1 = "fb14a863240d62fbf5922bf9f8803d7df6c62dc8" uuid = "63c18a36-062a-441e-b654-da1e3ab1ce7c" -version = "0.9.39" +version = "0.9.40" [deps.KernelAbstractions.extensions] EnzymeExt = "EnzymeCore" @@ -828,9 +824,9 @@ version = "4.0.1+0" [[deps.LLVM]] deps = ["CEnum", "LLVMExtra_jll", "Libdl", "Preferences", "Printf", "Unicode"] -git-tree-sha1 = "ce8614210409eaa54ed5968f4b50aa96da7ae543" +git-tree-sha1 = "69e4739502b7ab5176117e97e1664ed181c35036" uuid = "929cbde3-209d-540e-8aea-75f648917ca0" -version = "9.4.4" +version = "9.4.6" weakdeps = ["BFloat16s"] [deps.LLVM.extensions] @@ -914,9 +910,9 @@ version = "1.11.0+1" [[deps.LibTracyClient_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "d2bc4e1034b2d43076b50f0e34ea094c2cb0a717" +git-tree-sha1 = "d4e20500d210247322901841d4eafc7a0c52642d" uuid = "ad6e5548-8b26-5c9f-8ef3-ef0ad883f3a5" -version = "0.9.1+6" +version = "0.13.1+0" [[deps.Libdl]] uuid = "8f399da3-3557-5675-b5ff-fb832c97cbdb" @@ -942,9 +938,9 @@ version = "1.18.0+0" [[deps.Libmount_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "3acf07f130a76f87c041cfb2ff7d7284ca67b072" +git-tree-sha1 = "97bbca976196f2a1eb9607131cb108c69ec3f8a6" uuid = "4b2f31a3-9ecc-558c-b454-b3730dcb73e9" -version = "2.41.2+0" +version = "2.41.3+0" [[deps.Libtiff_jll]] deps = ["Artifacts", "JLLWrappers", "JpegTurbo_jll", "LERC_jll", "Libdl", "XZ_jll", "Zlib_jll", "Zstd_jll"] @@ -954,9 +950,9 @@ version = "4.7.2+0" [[deps.Libuuid_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "2a7a12fc0a4e7fb773450d17975322aa77142106" +git-tree-sha1 = "d0205286d9eceadc518742860bf23f703779a3d6" uuid = "38a345b3-de98-5d2b-a5d3-14cd9215e700" -version = "2.41.2+0" +version = "2.41.3+0" [[deps.LinearAlgebra]] deps = ["Libdl", "OpenBLAS_jll", "libblastrampoline_jll"] @@ -964,10 +960,10 @@ uuid = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" version = "1.11.0" [[deps.LinearOperators]] -deps = ["FastClosures", "LinearAlgebra", "Printf", "Requires", "SparseArrays", "TimerOutputs"] -git-tree-sha1 = "db137007d2c4ed948aa5f2518a2b451851ea8bda" +deps = ["FastClosures", "LinearAlgebra", "Printf", "SparseArrays", "TimerOutputs"] +git-tree-sha1 = "80f975f228586a745c8716ff3aa33715fe9ee188" uuid = "5c8ed15e-5a4c-59e4-a42b-c7e8811fb125" -version = "2.11.0" +version = "2.12.0" [deps.LinearOperators.extensions] LinearOperatorsAMDGPUExt = "AMDGPU" @@ -1036,9 +1032,9 @@ version = "0.4.17" [[deps.MUMPS_seq_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "METIS_jll", "libblastrampoline_jll"] -git-tree-sha1 = "fc0c8442887b48c15aec2b1787a5fc812a99b2fd" +git-tree-sha1 = "afbaaa0fa2f001ad8091e27885d69973f8eae3d7" uuid = "d7ed1dd3-d0ae-5e8e-bfb4-87a502085b8d" -version = "500.800.100+0" +version = "500.800.200+0" [[deps.MacroTools]] git-tree-sha1 = "1e0228a030642014fe5cfe68c2c0a818f9e3f522" @@ -1057,9 +1053,9 @@ weakdeps = ["MathOptInterface"] [[deps.MadNLPGPU]] deps = ["AMD", "CUDA", "CUDSS", "KernelAbstractions", "LinearAlgebra", "MadNLP", "Metis", "SparseArrays"] -git-tree-sha1 = "10fae48121a43e517566b16b41a6448e62ae6829" +git-tree-sha1 = "60a123367faffde0965634cba60d31e65ca12f55" uuid = "d72a61cc-809d-412f-99be-fd81f4b8a598" -version = "0.7.16" +version = "0.7.18" [deps.MadNLPGPU.extensions] MadNLPGPUAMDGPUExt = "AMDGPU" @@ -1079,10 +1075,10 @@ uuid = "d6f4376e-aef5-505a-96c1-9c027394607a" version = "1.11.0" [[deps.MathOptInterface]] -deps = ["BenchmarkTools", "CodecBzip2", "CodecZlib", "DataStructures", "ForwardDiff", "JSON3", "LinearAlgebra", "MutableArithmetics", "NaNMath", "OrderedCollections", "PrecompileTools", "Printf", "SparseArrays", "SpecialFunctions", "Test"] -git-tree-sha1 = "a2cbab4256690aee457d136752c404e001f27768" +deps = ["BenchmarkTools", "CodecBzip2", "CodecZlib", "ForwardDiff", "JSON", "LinearAlgebra", "MutableArithmetics", "NaNMath", "OrderedCollections", "PrecompileTools", "Printf", "SparseArrays", "SpecialFunctions", "Test"] +git-tree-sha1 = "7fb98657926ccb4de8f9bb96cda453700ca39a8b" uuid = "b8f27783-ece8-5eb3-8dc8-9495eed66fee" -version = "1.46.0" +version = "1.49.0" [[deps.MbedTLS]] deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "NetworkOptions", "Random", "Sockets"] @@ -1138,27 +1134,31 @@ version = "1.6.7" [[deps.NLPModels]] deps = ["FastClosures", "LinearAlgebra", "LinearOperators", "Printf", "SparseArrays"] -git-tree-sha1 = "ac58082a07f0bd559292e869770d462d7ad0a7e2" +git-tree-sha1 = "5408257d73588bae7548dff3a770b58bedf24111" uuid = "a4795742-8479-5a88-8948-cc11e1c8c1a6" -version = "0.21.5" +version = "0.21.8" [[deps.NLPModelsIpopt]] deps = ["Ipopt", "NLPModels", "NLPModelsModifiers", "SolverCore"] -git-tree-sha1 = "4bda4cf02a6ff0a9508179503517cb905519bbf9" +git-tree-sha1 = "7c6b8ff5258756b7d50e7b63283f789ca9e9de05" uuid = "f4238b75-b362-5c4c-b852-0801c9a21d71" -version = "0.11.0" +version = "0.11.1" [[deps.NLPModelsModifiers]] deps = ["FastClosures", "LinearAlgebra", "LinearOperators", "NLPModels", "Printf", "SparseArrays"] -git-tree-sha1 = "a80505adbe42104cbbe9674591a5ccd9e9c2dfda" +git-tree-sha1 = "ad20a2a41dac262ae0022ba8a961f5ed431c9c9a" uuid = "e01155f1-5c6f-4375-a9d8-616dd036575f" -version = "0.7.2" +version = "0.7.3" [[deps.NVTX]] -deps = ["Colors", "JuliaNVTXCallbacks_jll", "Libdl", "NVTX_jll"] -git-tree-sha1 = "6b573a3e66decc7fc747afd1edbf083ff78c813a" +deps = ["JuliaNVTXCallbacks_jll", "Libdl", "NVTX_jll"] +git-tree-sha1 = "a9083c3e469e63cca454d1fc3b19472d9d92c14a" uuid = "5da4648a-3479-48b8-97b9-01cb529c0a1f" -version = "1.0.1" +version = "1.0.3" +weakdeps = ["Colors"] + + [deps.NVTX.extensions] + NVTXColorsExt = "Colors" [[deps.NVTX_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -1193,9 +1193,9 @@ version = "1.3.6+0" [[deps.OpenBLAS32_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl"] -git-tree-sha1 = "ece4587683695fe4c5f20e990da0ed7e83c351e7" +git-tree-sha1 = "46cce8b42186882811da4ce1f4c7208b02deb716" uuid = "656ef2d0-ae68-5445-9ca0-591084a874a2" -version = "0.3.29+0" +version = "0.3.30+0" [[deps.OpenBLAS_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"] @@ -1209,15 +1209,15 @@ version = "0.8.5+0" [[deps.OpenSSL]] deps = ["BitFlags", "Dates", "MozillaCACerts_jll", "NetworkOptions", "OpenSSL_jll", "Sockets"] -git-tree-sha1 = "386b47442468acfb1add94bf2d85365dea10cbab" +git-tree-sha1 = "1d1aaa7d449b58415f97d2839c318b70ffb525a0" uuid = "4d8831e6-92b7-49fb-bdf8-b643e874388c" -version = "1.6.0" +version = "1.6.1" [[deps.OpenSSL_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "f19301ae653233bc88b1810ae908194f07f8db9d" +git-tree-sha1 = "c9cbeda6aceffc52d8a0017e71db27c7a7c0beaf" uuid = "458c3c95-2e84-50aa-8efc-19380b2a3a95" -version = "3.5.4+0" +version = "3.5.5+0" [[deps.OpenSpecFun_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl"] @@ -1233,9 +1233,11 @@ version = "1.1.6" [[deps.OptimalControlProblems]] deps = ["ADNLPModels", "CTBase", "CTDirect", "CTModels", "DocStringExtensions", "ExaModels", "OrderedCollections", "SolverCore"] -git-tree-sha1 = "767f6292fdb312e7151bc30a652227c8d5c5dd8d" +git-tree-sha1 = "da7c287e67a22a66d45c153d82de44ce1c80c847" +repo-rev = "199-new-problem-bryson-denham" +repo-url = "https://github.com/control-toolbox/OptimalControlProblems.jl" uuid = "59046045-fb9c-4c23-964f-ff0a25704f96" -version = "0.3.2" +version = "0.4.0" weakdeps = ["JuMP", "OptimalControl"] [deps.OptimalControlProblems.extensions] @@ -1244,9 +1246,9 @@ weakdeps = ["JuMP", "OptimalControl"] [[deps.Opus_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "c392fc5dd032381919e3b22dd32d6443760ce7ea" +git-tree-sha1 = "e2bb57a313a74b8104064b7efd01406c0a50d2ff" uuid = "91d4177d-7536-5919-b921-800302f37372" -version = "1.5.2+0" +version = "1.6.1+0" [[deps.OrderedCollections]] git-tree-sha1 = "05868e21324cede2207c6f0f466b4bfef6d5e7ee" @@ -1305,9 +1307,9 @@ version = "1.4.4" [[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", "Unzip"] -git-tree-sha1 = "12ce661880f8e309569074a61d3767e5756a199f" +git-tree-sha1 = "cb20a4eacda080e517e4deb9cfb6c7c518131265" uuid = "91a5bcdd-55d7-5caf-9e0b-520d859cae80" -version = "1.41.1" +version = "1.41.6" [deps.Plots.extensions] FileIOExt = "FileIO" @@ -1337,15 +1339,21 @@ version = "1.2.1" [[deps.Preferences]] deps = ["TOML"] -git-tree-sha1 = "0f27480397253da18fe2c12a4ba4eb9eb208bf3d" +git-tree-sha1 = "522f093a29b31a93e34eaea17ba055d850edea28" uuid = "21216c6a-2e73-6563-6e65-726566657250" -version = "1.5.0" +version = "1.5.1" [[deps.PrettyTables]] deps = ["Crayons", "LaTeXStrings", "Markdown", "PrecompileTools", "Printf", "REPL", "Reexport", "StringManipulation", "Tables"] -git-tree-sha1 = "6b8e2f0bae3f678811678065c09571c1619da219" +git-tree-sha1 = "211530a7dc76ab59087f4d4d1fc3f086fbe87594" uuid = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d" -version = "3.1.0" +version = "3.2.3" + + [deps.PrettyTables.extensions] + PrettyTablesTypstryExt = "Typstry" + + [deps.PrettyTables.weakdeps] + Typstry = "f0ed7684-a786-439e-b1e3-3b82803b501e" [[deps.Printf]] deps = ["Unicode"] @@ -1454,9 +1462,9 @@ version = "1.3.1" [[deps.ReverseDiff]] deps = ["ChainRulesCore", "DiffResults", "DiffRules", "ForwardDiff", "FunctionWrappers", "LinearAlgebra", "LogExpFunctions", "MacroTools", "NaNMath", "Random", "SpecialFunctions", "StaticArrays", "Statistics"] -git-tree-sha1 = "3ab8eee3620451b09f0272c271875b4bc02146d9" +git-tree-sha1 = "f1b07322a8cdc0d46812473b37fb72f69ec07b22" uuid = "37e2e3b7-166d-5795-8a7a-e32c996b4267" -version = "1.16.1" +version = "1.16.2" [[deps.SHA]] uuid = "ea8e919c-243c-51af-8825-aaa63cd721ce" @@ -1464,9 +1472,9 @@ version = "0.7.0" [[deps.SPRAL_jll]] deps = ["Artifacts", "CompilerSupportLibraries_jll", "Hwloc_jll", "JLLWrappers", "Libdl", "METIS_jll", "libblastrampoline_jll"] -git-tree-sha1 = "4f9833187a65ead66ed1907b44d5f20606282e3f" +git-tree-sha1 = "139fa63f03a16b3d859d925ee9149dfc15f21ece" uuid = "319450e9-13b8-58e8-aa9f-8fd1420848ab" -version = "2025.5.20+0" +version = "2025.9.18+0" [[deps.ScopedValues]] deps = ["HashArrayMappedTries", "Logging"] @@ -1482,9 +1490,9 @@ version = "1.3.0" [[deps.SentinelArrays]] deps = ["Dates", "Random"] -git-tree-sha1 = "712fb0231ee6f9120e005ccd56297abbc053e7e0" +git-tree-sha1 = "ebe7e59b37c400f694f52b58c93d26201387da70" uuid = "91c51154-3ec4-41a3-a24f-3f23e20d615c" -version = "1.4.8" +version = "1.4.9" [[deps.Serialization]] uuid = "9e88b42a-f829-5b0c-bbe9-9e923198166b" @@ -1511,10 +1519,14 @@ uuid = "6462fe0b-24de-5631-8697-dd941f90decc" version = "1.11.0" [[deps.SolverCore]] -deps = ["LinearAlgebra", "NLPModels", "Printf"] -git-tree-sha1 = "03a1e0d2d39b9ebc9510f2452c0adfbe887b9cb2" +deps = ["Printf"] +git-tree-sha1 = "83289e4a837c2cced03bf8efc138bbaf42f4983b" uuid = "ff4d7338-4cf1-434d-91df-b86cb86fb843" -version = "0.3.8" +version = "0.3.9" +weakdeps = ["NLPModels"] + + [deps.SolverCore.extensions] + SolverCoreNLPModelsExt = "NLPModels" [[deps.SortingAlgorithms]] deps = ["DataStructures"] @@ -1529,9 +1541,9 @@ version = "1.11.0" [[deps.SparseConnectivityTracer]] deps = ["ADTypes", "DocStringExtensions", "FillArrays", "LinearAlgebra", "Random", "SparseArrays"] -git-tree-sha1 = "322365aa23098275562cbad6a1c2539ee40d9618" +git-tree-sha1 = "590b72143436e443888124aaf4026a636049e3f5" uuid = "9f842d2f-2579-4b1d-911e-f412cf18a3f5" -version = "1.1.3" +version = "1.2.1" [deps.SparseConnectivityTracer.extensions] SparseConnectivityTracerChainRulesCoreExt = "ChainRulesCore" @@ -1568,9 +1580,9 @@ version = "0.4.23" [[deps.SpecialFunctions]] deps = ["IrrationalConstants", "LogExpFunctions", "OpenLibm_jll", "OpenSpecFun_jll"] -git-tree-sha1 = "f2685b435df2613e25fc10ad8c26dddb8640f547" +git-tree-sha1 = "5acc6a41b3082920f79ca3c759acbcecf18a8d78" uuid = "276daf66-3868-5448-9aa4-cd146d93841b" -version = "2.6.1" +version = "2.7.1" weakdeps = ["ChainRulesCore"] [deps.SpecialFunctions.extensions] @@ -1584,9 +1596,9 @@ version = "1.0.4" [[deps.StaticArrays]] deps = ["LinearAlgebra", "PrecompileTools", "Random", "StaticArraysCore"] -git-tree-sha1 = "b8693004b385c842357406e3af647701fe783f98" +git-tree-sha1 = "eee1b9ad8b29ef0d936e3ec9838c7ec089620308" uuid = "90137ffa-7385-5640-81b9-e52037218182" -version = "1.9.15" +version = "1.9.16" weakdeps = ["ChainRulesCore", "Statistics"] [deps.StaticArrays.extensions] @@ -1610,33 +1622,27 @@ weakdeps = ["SparseArrays"] [[deps.StatsAPI]] deps = ["LinearAlgebra"] -git-tree-sha1 = "9d72a13a3f4dd3795a195ac5a44d7d6ff5f552ff" +git-tree-sha1 = "178ed29fd5b2a2cfc3bd31c13375ae925623ff36" uuid = "82ae8749-77ed-4fe6-ae5f-f523153014b0" -version = "1.7.1" +version = "1.8.0" [[deps.StatsBase]] -deps = ["AliasTables", "DataAPI", "DataStructures", "LinearAlgebra", "LogExpFunctions", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics", "StatsAPI"] -git-tree-sha1 = "064b532283c97daae49e544bb9cb413c26511f8c" +deps = ["AliasTables", "DataAPI", "DataStructures", "IrrationalConstants", "LinearAlgebra", "LogExpFunctions", "Missings", "Printf", "Random", "SortingAlgorithms", "SparseArrays", "Statistics", "StatsAPI"] +git-tree-sha1 = "aceda6f4e598d331548e04cc6b2124a6148138e3" uuid = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91" -version = "0.34.8" +version = "0.34.10" [[deps.StringManipulation]] deps = ["PrecompileTools"] -git-tree-sha1 = "725421ae8e530ec29bcbdddbe91ff8053421d023" +git-tree-sha1 = "a3c1536470bf8c5e02096ad4853606d7c8f62721" uuid = "892a3eda-7b42-436c-8928-eab12a02cf0e" -version = "0.4.1" - -[[deps.StructTypes]] -deps = ["Dates", "UUIDs"] -git-tree-sha1 = "159331b30e94d7b11379037feeb9b690950cace8" -uuid = "856f2bd8-1eba-4b0a-8007-ebc267875bd4" -version = "1.11.0" +version = "0.4.2" [[deps.StructUtils]] deps = ["Dates", "UUIDs"] -git-tree-sha1 = "79529b493a44927dd5b13dde1c7ce957c2d049e4" +git-tree-sha1 = "28145feabf717c5d65c1d5e09747ee7b1ff3ed13" uuid = "ec057cc2-7a8d-4b58-b3b3-92acb9f63b42" -version = "2.6.0" +version = "2.6.3" [deps.StructUtils.extensions] StructUtilsMeasurementsExt = ["Measurements"] @@ -1774,9 +1780,9 @@ version = "1.24.0+0" [[deps.WoodburyMatrices]] deps = ["LinearAlgebra", "SparseArrays"] -git-tree-sha1 = "c1a7aa6219628fcd757dede0ca95e245c5cd9511" +git-tree-sha1 = "248a7031b3da79a127f14e5dc5f417e26f9f6db7" uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" -version = "1.0.0" +version = "1.1.0" [[deps.XML2_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Libiconv_jll", "Zlib_jll"] @@ -1786,9 +1792,9 @@ version = "2.13.9+0" [[deps.XZ_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] -git-tree-sha1 = "fee71455b0aaa3440dfdd54a9a36ccef829be7d4" +git-tree-sha1 = "9cce64c0fdd1960b597ba7ecda2950b5ed957438" uuid = "ffd25f8a-64ca-5728-b0f7-c24cf3aae800" -version = "5.8.1+0" +version = "5.8.2+0" [[deps.Xorg_libICE_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -1804,9 +1810,9 @@ version = "1.2.6+0" [[deps.Xorg_libX11_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libxcb_jll", "Xorg_xtrans_jll"] -git-tree-sha1 = "b5899b25d17bf1889d25906fb9deed5da0c15b3b" +git-tree-sha1 = "808090ede1d41644447dd5cbafced4731c56bd2f" uuid = "4f6342f7-b3d2-589e-9d20-edeb45f2b2bc" -version = "1.8.12+0" +version = "1.8.13+0" [[deps.Xorg_libXau_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl"] @@ -1828,9 +1834,9 @@ version = "1.1.6+0" [[deps.Xorg_libXext_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll"] -git-tree-sha1 = "a4c0ee07ad36bf8bbce1c3bb52d21fb1e0b987fb" +git-tree-sha1 = "1a4a26870bf1e5d26cd585e38038d399d7e65706" uuid = "1082639a-0dae-5f34-9b06-72781eeb8cb3" -version = "1.3.7+0" +version = "1.3.8+0" [[deps.Xorg_libXfixes_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll"] @@ -1846,15 +1852,15 @@ version = "1.8.3+0" [[deps.Xorg_libXinerama_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libXext_jll"] -git-tree-sha1 = "a5bc75478d323358a90dc36766f3c99ba7feb024" +git-tree-sha1 = "0ba01bc7396896a4ace8aab67db31403c71628f4" uuid = "d1454406-59df-5ea1-beac-c340f2130bc3" -version = "1.1.6+0" +version = "1.1.7+0" [[deps.Xorg_libXrandr_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libXext_jll", "Xorg_libXrender_jll"] -git-tree-sha1 = "aff463c82a773cb86061bce8d53a0d976854923e" +git-tree-sha1 = "6c174ef70c96c76f4c3f4d3cfbe09d018bcd1b53" uuid = "ec84b674-ba8e-5d96-8ba1-2a689ba10484" -version = "1.5.5+0" +version = "1.5.6+0" [[deps.Xorg_libXrender_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll"] @@ -1876,9 +1882,9 @@ version = "1.17.1+0" [[deps.Xorg_libxkbfile_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libX11_jll"] -git-tree-sha1 = "e3150c7400c41e207012b41659591f083f3ef795" +git-tree-sha1 = "ed756a03e95fff88d8f738ebc2849431bdd4fd1a" uuid = "cc61e674-0454-545c-8b26-ed2c68acab7a" -version = "1.1.3+0" +version = "1.2.0+0" [[deps.Xorg_xcb_util_cursor_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_xcb_util_image_jll", "Xorg_xcb_util_jll", "Xorg_xcb_util_renderutil_jll"] @@ -2006,9 +2012,9 @@ version = "1.28.1+0" [[deps.libpng_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Zlib_jll"] -git-tree-sha1 = "07b6a107d926093898e82b3b1db657ebe33134ec" +git-tree-sha1 = "e015f211ebb898c8180887012b938f3851e719ac" uuid = "b53b4c65-9356-5827-b1ea-8c7a1a84506f" -version = "1.6.50+0" +version = "1.6.55+0" [[deps.libvorbis_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Ogg_jll"] @@ -2052,6 +2058,6 @@ version = "4.1.0+0" [[deps.xkbcommon_jll]] deps = ["Artifacts", "JLLWrappers", "Libdl", "Xorg_libxcb_jll", "Xorg_xkeyboard_config_jll"] -git-tree-sha1 = "fbf139bce07a534df0e699dbb5f5cc9346f95cc1" +git-tree-sha1 = "a1fc6507a40bf504527d0d4067d718f8e179b2b8" uuid = "d8fb68d0-12a3-5cfd-a85a-d49703b185fd" -version = "1.9.2+0" +version = "1.13.0+0" diff --git a/docs/src/assets/benchmarks/core-ubuntu-latest/Project.toml b/docs/src/assets/benchmarks/core-ubuntu-latest/Project.toml index 2ebeb1464..f01b2bf31 100644 --- a/docs/src/assets/benchmarks/core-ubuntu-latest/Project.toml +++ b/docs/src/assets/benchmarks/core-ubuntu-latest/Project.toml @@ -1,6 +1,6 @@ name = "CTBenchmarks" uuid = "db1dffaa-5ed3-4583-9a66-b5881c82ef11" -version = "0.2.3" +version = "0.3.1" authors = ["Olivier Cots "] [deps] @@ -23,6 +23,7 @@ Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f" Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80" Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7" Sockets = "6462fe0b-24de-5631-8697-dd941f90decc" +Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2" Tables = "bd369af6-aec1-5ad0-b16a-f7cc5008161c" [compat] @@ -40,10 +41,14 @@ MadNLPGPU = "0.7" MadNLPMumps = "0.5" NLPModelsIpopt = "0.11" OptimalControl = "1" -OptimalControlProblems = "0.3" +OptimalControlProblems = "0.4" Pkg = "1" Plots = "1.41" Printf = "1" Sockets = "1" +Statistics = "1" Tables = "1" julia = "1.10" + +[sources] +OptimalControlProblems = {url = "https://github.com/control-toolbox/OptimalControlProblems.jl", rev = "199-new-problem-bryson-denham"} diff --git a/docs/src/assets/benchmarks/core-ubuntu-latest/core-ubuntu-latest.jl b/docs/src/assets/benchmarks/core-ubuntu-latest/core-ubuntu-latest.jl index 04887de5e..40656f4d0 100644 --- a/docs/src/assets/benchmarks/core-ubuntu-latest/core-ubuntu-latest.jl +++ b/docs/src/assets/benchmarks/core-ubuntu-latest/core-ubuntu-latest.jl @@ -4,20 +4,9 @@ function run() results = CTBenchmarks.benchmark(; problems=[ - :beam, - :chain, - :double_oscillator, - # :ducted_fan, - :electric_vehicle, - :glider, - :insurance, - :jackson, - :robbins, - :robot, - :rocket, - :space_shuttle, - :steering, - :vanderpol, + :bryson_denham, + :robertson, + ], solver_models=[:ipopt => [:jump, :adnlp, :exa], :madnlp => [:jump, :adnlp, :exa]], grid_sizes=[200, 500, 1000, 2000], diff --git a/docs/src/assets/benchmarks/core-ubuntu-latest/core-ubuntu-latest.json b/docs/src/assets/benchmarks/core-ubuntu-latest/core-ubuntu-latest.json index 9d420ea3d..f10157f31 100644 --- a/docs/src/assets/benchmarks/core-ubuntu-latest/core-ubuntu-latest.json +++ b/docs/src/assets/benchmarks/core-ubuntu-latest/core-ubuntu-latest.json @@ -1,11 +1,11 @@ { "metadata": { - "julia_version": "1.11.7", - "versioninfo": "Julia Version 1.11.7\nCommit f2b3dbda30a (2025-09-08 12:10 UTC)\nBuild Info:\n Official https://julialang.org/ release\nPlatform Info:\n OS: Linux (x86_64-linux-gnu)\n CPU: 4 × AMD EPYC 7763 64-Core Processor\n WORD_SIZE: 64\n LLVM: libLLVM-16.0.6 (ORCJIT, znver3)\nThreads: 1 default, 0 interactive, 1 GC (on 4 virtual cores)\nEnvironment:\n JULIA_PKG_SERVER_REGISTRY_PREFERENCE = eager\n", - "pkg_manifest": "\u001b[36m\u001b[1mProject\u001b[22m\u001b[39m CTBenchmarks v0.2.3\n\u001b[32m\u001b[1mStatus\u001b[22m\u001b[39m `~/work/CTBenchmarks.jl/CTBenchmarks.jl/Manifest.toml`\n \u001b[90m[54578032] \u001b[39mADNLPModels v0.8.13\n \u001b[90m[47edcb42] \u001b[39mADTypes v1.19.0\n \u001b[90m[14f7f29c] \u001b[39mAMD v0.5.3\n \u001b[90m[621f4979] \u001b[39mAbstractFFTs 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v1.11.0\n \u001b[90m[6462fe0b] \u001b[39mSockets v1.11.0\n \u001b[90m[2f01184e] \u001b[39mSparseArrays v1.11.0\n \u001b[90m[f489334b] \u001b[39mStyledStrings v1.11.0\n \u001b[90m[4607b0f0] \u001b[39mSuiteSparse\n \u001b[90m[fa267f1f] \u001b[39mTOML v1.0.3\n \u001b[90m[a4e569a6] \u001b[39mTar v1.10.0\n \u001b[90m[8dfed614] \u001b[39mTest v1.11.0\n \u001b[90m[cf7118a7] \u001b[39mUUIDs v1.11.0\n \u001b[90m[4ec0a83e] \u001b[39mUnicode v1.11.0\n \u001b[90m[e66e0078] \u001b[39mCompilerSupportLibraries_jll v1.1.1+0\n \u001b[90m[deac9b47] \u001b[39mLibCURL_jll v8.6.0+0\n \u001b[90m[e37daf67] \u001b[39mLibGit2_jll v1.7.2+0\n \u001b[90m[29816b5a] \u001b[39mLibSSH2_jll v1.11.0+1\n \u001b[90m[c8ffd9c3] \u001b[39mMbedTLS_jll v2.28.6+0\n \u001b[90m[14a3606d] \u001b[39mMozillaCACerts_jll v2023.12.12\n \u001b[90m[4536629a] \u001b[39mOpenBLAS_jll v0.3.27+1\n \u001b[90m[05823500] \u001b[39mOpenLibm_jll v0.8.5+0\n \u001b[90m[efcefdf7] \u001b[39mPCRE2_jll v10.42.0+1\n \u001b[90m[bea87d4a] \u001b[39mSuiteSparse_jll v7.7.0+0\n \u001b[90m[83775a58] \u001b[39mZlib_jll v1.2.13+1\n \u001b[90m[8e850b90] \u001b[39mlibblastrampoline_jll v5.11.0+0\n \u001b[90m[8e850ede] \u001b[39mnghttp2_jll v1.59.0+0\n \u001b[90m[3f19e933] \u001b[39mp7zip_jll v17.4.0+2\n\u001b[36m\u001b[1mInfo\u001b[22m\u001b[39m Packages marked with \u001b[32m⌃\u001b[39m and \u001b[33m⌅\u001b[39m have new versions available. Those with \u001b[32m⌃\u001b[39m may be upgradable, but those with \u001b[33m⌅\u001b[39m are restricted by compatibility constraints from upgrading. To see why use `status --outdated -m`\n", - "pkg_status": "\u001b[36m\u001b[1mProject\u001b[22m\u001b[39m CTBenchmarks v0.2.3\n\u001b[32m\u001b[1mStatus\u001b[22m\u001b[39m `~/work/CTBenchmarks.jl/CTBenchmarks.jl/Project.toml`\n \u001b[90m[6e4b80f9] \u001b[39mBenchmarkTools v1.6.3\n\u001b[32m⌃\u001b[39m \u001b[90m[54762871] \u001b[39mCTBase v0.16.2\n \u001b[90m[052768ef] \u001b[39mCUDA v5.9.4\n \u001b[90m[a93c6f00] \u001b[39mDataFrames v1.8.1\n \u001b[90m[ffbed154] \u001b[39mDocStringExtensions v0.9.5\n \u001b[90m[b6b21f68] \u001b[39mIpopt v1.13.0\n \u001b[90m[682c06a0] \u001b[39mJSON v1.3.0\n \u001b[90m[4076af6c] \u001b[39mJuMP v1.29.3\n \u001b[90m[d72a61cc] \u001b[39mMadNLPGPU v0.7.16\n \u001b[90m[3b83494e] \u001b[39mMadNLPMumps v0.5.1\n \u001b[90m[f4238b75] \u001b[39mNLPModelsIpopt v0.11.0\n \u001b[90m[5f98b655] \u001b[39mOptimalControl v1.1.6\n \u001b[90m[59046045] \u001b[39mOptimalControlProblems v0.3.2\n \u001b[90m[91a5bcdd] \u001b[39mPlots v1.41.1\n \u001b[90m[bd369af6] \u001b[39mTables v1.12.1\n \u001b[90m[ade2ca70] \u001b[39mDates v1.11.0\n \u001b[90m[b77e0a4c] \u001b[39mInteractiveUtils v1.11.0\n \u001b[90m[44cfe95a] \u001b[39mPkg v1.11.0\n \u001b[90m[de0858da] \u001b[39mPrintf v1.11.0\n \u001b[90m[6462fe0b] \u001b[39mSockets v1.11.0\n\u001b[36m\u001b[1mInfo\u001b[22m\u001b[39m Packages marked with \u001b[32m⌃\u001b[39m have new versions available and may be upgradable.\n", - "timestamp": "2025-11-17 15:16:44 UTC", - "machine": "runnervmg1sw1", + "julia_version": "1.11.9", + "versioninfo": "Julia Version 1.11.9\nCommit 53a02c0720c (2026-02-06 00:27 UTC)\nBuild Info:\n Official https://julialang.org/ release\nPlatform Info:\n OS: Linux (x86_64-linux-gnu)\n CPU: 4 × AMD EPYC 7763 64-Core Processor\n WORD_SIZE: 64\n LLVM: libLLVM-16.0.6 (ORCJIT, znver3)\nThreads: 1 default, 0 interactive, 1 GC (on 4 virtual cores)\nEnvironment:\n JULIA_PKG_SERVER_REGISTRY_PREFERENCE = eager\n", + "pkg_manifest": "\u001b[36m\u001b[1mProject\u001b[22m\u001b[39m 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To see why use `status --outdated -m`\n", + "pkg_status": "\u001b[36m\u001b[1mProject\u001b[22m\u001b[39m CTBenchmarks v0.3.1\n\u001b[32m\u001b[1mStatus\u001b[22m\u001b[39m `~/work/CTBenchmarks.jl/CTBenchmarks.jl/Project.toml`\n \u001b[90m[6e4b80f9] \u001b[39mBenchmarkTools v1.6.3\n\u001b[33m⌅\u001b[39m \u001b[90m[54762871] \u001b[39mCTBase v0.16.2\n \u001b[90m[052768ef] \u001b[39mCUDA v5.9.6\n \u001b[90m[a93c6f00] \u001b[39mDataFrames v1.8.1\n \u001b[90m[ffbed154] \u001b[39mDocStringExtensions v0.9.5\n \u001b[90m[b6b21f68] \u001b[39mIpopt v1.14.0\n \u001b[90m[682c06a0] \u001b[39mJSON v1.4.0\n \u001b[90m[4076af6c] \u001b[39mJuMP v1.29.4\n \u001b[90m[d72a61cc] \u001b[39mMadNLPGPU v0.7.18\n \u001b[90m[3b83494e] \u001b[39mMadNLPMumps v0.5.1\n \u001b[90m[f4238b75] \u001b[39mNLPModelsIpopt v0.11.1\n \u001b[90m[5f98b655] \u001b[39mOptimalControl v1.1.6\n \u001b[90m[59046045] \u001b[39mOptimalControlProblems v0.4.0 `https://github.com/control-toolbox/OptimalControlProblems.jl#199-new-problem-bryson-denham`\n \u001b[90m[91a5bcdd] \u001b[39mPlots v1.41.6\n \u001b[90m[10745b16] \u001b[39mStatistics v1.11.1\n \u001b[90m[bd369af6] \u001b[39mTables v1.12.1\n \u001b[90m[ade2ca70] \u001b[39mDates v1.11.0\n \u001b[90m[b77e0a4c] \u001b[39mInteractiveUtils v1.11.0\n \u001b[90m[44cfe95a] \u001b[39mPkg v1.11.0\n \u001b[90m[de0858da] \u001b[39mPrintf v1.11.0\n \u001b[90m[6462fe0b] \u001b[39mSockets v1.11.0\n\u001b[36m\u001b[1mInfo\u001b[22m\u001b[39m Packages marked with \u001b[33m⌅\u001b[39m have new versions available but compatibility constraints restrict them from upgrading. To see why use `status --outdated`\n", + "timestamp": "2026-02-19 01:22:52 UTC", + "machine": "runnervmjduv7", "os": "Linux", "configuration": { "grid_sizes": [ @@ -19,19 +19,8 @@ "max_iter": 1000, "max_wall_time": 500.0, "problems": [ - "beam", - "chain", - "double_oscillator", - "electric_vehicle", - "glider", - "insurance", - "jackson", - "robbins", - "robot", - "rocket", - "space_shuttle", - "steering", - "vanderpol" + "bryson_denham", + "robertson" ], "solver_models": { "ipopt": [ @@ -54,16 +43,16 @@ "results": [ { "success": true, - "problem": "beam", + "problem": "bryson_denham", "solver": "ipopt", "mu_strategy": "adaptive", - "objective": 8.89133522024639, + "objective": 4.000888700982631, "max_iter": 1000, "tol": 1.0e-8, "benchmark": { - "time": 0.01511801, - "bytes": 16768, - "alloc": 792, + "time": 0.012284379, + "bytes": 14224, + "alloc": 669, "gctime": 0.0 }, "status": "LOCALLY_SOLVED", @@ -71,21 +60,21 @@ "model": "jump", "criterion": "min", "grid_size": 200, - "iterations": 16, + "iterations": 13, "disc_method": "trapeze" }, { "success": true, - "problem": "beam", + "problem": "bryson_denham", "solver": "ipopt", "mu_strategy": "adaptive", - "objective": 8.891335220246392, + "objective": 4.000888700982626, "max_iter": 1000, "tol": 1.0e-8, "benchmark": { - "time": 0.019903809, - "bytes": 2481880, - "alloc": 37007, + "time": 0.016370563, + "bytes": 2068432, + "alloc": 30779, "gctime": 0.0 }, "status": "first_order", @@ -93,21 +82,21 @@ "model": "adnlp", "criterion": "min", "grid_size": 200, - "iterations": 16, + "iterations": 13, "disc_method": "trapeze" }, { "success": true, - "problem": "beam", + "problem": "bryson_denham", "solver": "ipopt", "mu_strategy": "adaptive", - "objective": 8.89133522024639, + "objective": 4.000888700982632, "max_iter": 1000, "tol": 1.0e-8, "benchmark": { - "time": 0.015249154, - "bytes": 74224, - "alloc": 746, + "time": 0.012415812, + "bytes": 71056, + "alloc": 632, "gctime": 0.0 }, "status": "first_order", @@ -115,21 +104,21 @@ "model": "exa", "criterion": "min", "grid_size": 200, - "iterations": 16, + "iterations": 13, "disc_method": "trapeze" }, { "success": true, - "problem": "beam", + "problem": "bryson_denham", "solver": "ipopt", "mu_strategy": "adaptive", - "objective": 8.889281808580773, + "objective": 4.000143422061425, "max_iter": 1000, "tol": 1.0e-8, "benchmark": { - "time": 0.036150032, - "bytes": 18848, - "alloc": 898, + "time": 0.030866008, + "bytes": 17120, + "alloc": 814, "gctime": 0.0 }, "status": "LOCALLY_SOLVED", @@ -137,21 +126,21 @@ "model": "jump", "criterion": "min", "grid_size": 500, - "iterations": 18, + "iterations": 16, "disc_method": "trapeze" }, { "success": true, - "problem": "beam", + "problem": "bryson_denham", "solver": "ipopt", "mu_strategy": "adaptive", - "objective": 8.889281808581256, + "objective": 4.000143422061426, "max_iter": 1000, "tol": 1.0e-8, "benchmark": { - "time": 0.047187192, - "bytes": 6786888, - "alloc": 100559, + "time": 0.041804389, + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/docs/src/index.md b/docs/src/index.md index bc40b0602..58d6ef131 100644 --- a/docs/src/index.md +++ b/docs/src/index.md @@ -127,6 +127,8 @@ CTBenchmarks includes 14 optimal control problems from [OptimalControlProblems.j - `:space_shuttle` - Space shuttle re-entry - `:steering` - Steering control - `:vanderpol` - Van der Pol oscillator +- `:bryson_denham` - Bryson-Denham problem +- `:robertson` - Robertson problem ### Solver and Model Combinations diff --git a/src/run.jl b/src/run.jl index 782515442..612889fa1 100644 --- a/src/run.jl +++ b/src/run.jl @@ -69,6 +69,8 @@ function run( :space_shuttle, :steering, :vanderpol, + :bryson_denham, + :robertson, ], solver_models=[ :ipopt => [:jump, :adnlp, :exa],