Pierre Martinon

Hi everyone @horasio @jbcaillau @ocots ! I see JB already answered concerning the AD problem. As for the restoration error, I strongly suspect this is due to the (lack of)...

> Thank you everyone, Using the smoothed sqrt as suggested by @ocots I get the same `EXIT: Restoration Failed!`. By adding an `init=(state=x0,))`, as suggested by @PierreMartinon , Ipopt progresses:...

Regarding MadNLP, I have one question: I don't know how to have the CTSolveExt extension loaded if *either* `NLPModelsIpopt` or `MadNLP` are used. From the Julia doc, a package extension...

For the sparsity pattern, the current trapeze method makes it a bit more involved: we typically store the dynamics at the end of a time step before moving on to...

First madnlp tests https://github.com/control-toolbox/CTDirect.jl/pull/191

The parsing for the constraints multipliers should be up in the next release. Untested though. Before 1.0 I'd like to - add a second discretization scheme (implicit midpoint). Adding other...

I know, but I can't really pass the sparse structure with the trapeze method (more blocks than a true single step method due to each dynamics acting on two steps...

Most common options are now described in the CTDirect API doc and the `solve-tutorial`. More technical options such as linear solver choice / HSL / MKL are not presented yet.

Necrothread :D Still, this is nice. We should add somewhere in the doc the steps to install HSL properly.

Current state in CTDirect: - [ ] retrieve and pass to the OCP solution the multipliers for specific types of constraints (tested on state, should be identical for control and...