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…d clarity - Updated integrators to accept NamedTrajectory as a parameter, allowing for better access to trajectory dimensions and components. - Modified test_integrator function to utilize NamedTrajectory for state dimension retrieval and KnotPoint creation. - Adjusted jacobian_structure and hessian_structure functions across integrators to align with the new trajectory structure. - Refined the BilinearIntegrator, DerivativeIntegrator, TimeDependentBilinearIntegrator, and TimeIntegrator to replace vector indices with symbolic names for components. - Enhanced the IpoptEvaluator to create dynamics from integrators at evaluation time, improving modularity. - Updated DirectTrajOptProblem to store integrators directly, removing the previous dynamics structure. - Ensured all relevant tests are updated to reflect these changes, maintaining functionality and correctness.
… simplicity and consistency across the codebase
…ces once for improved performance and clarity
…nd performance; update test cases for consistency
- Refactor trajectory data extraction in `TrajectoryDynamics` to separate trajectory and global data. - Update `NamedTrajectory` wrapping to utilize extracted trajectory data for improved performance. - Introduce `NonlinearKnotPointConstraint` for applying nonlinear constraints at specific knot points in trajectories. - Implement methods for evaluating constraints, Jacobians, and Hessians for `NonlinearKnotPointConstraint`. - Add tests for `NonlinearKnotPointConstraint` covering single and multiple variable scenarios, including inequality and equality constraints. - Ensure compatibility with existing trajectory dynamics and solvers by updating constraint evaluation methods.
- Updated KnotPointObjective to streamline constructor and improve documentation. - Enhanced MinimumTimeObjective to clarify its purpose and improve gradient calculations. - Refined QuadraticRegularizer to optimize gradient and Hessian computations, ensuring proper handling of trajectory components. - Changed DirectTrajOptProblem to use AbstractObjective instead of Objective for better abstraction. - Modified IpoptEvaluator to accommodate the new AbstractObjective interface and improve Hessian evaluations. - Adjusted test utilities to include bounds for the timestep variable in the bilinear dynamics example.
…nt for trajectory constraints - Implemented NonlinearGlobalKnotPointConstraint to handle constraints at individual knot points with global parameters. - Added functionality for evaluating constraint values, Jacobians, and Hessians for both global and knot point constraints. - Introduced constructors for both constraints to accommodate varying numbers of variables and parameters. - Enhanced the existing NonlinearKnotPointConstraint with support for multiple variables, including separate and concatenated arguments. - Included extensive documentation and examples for both constraint types. - Added unit tests to verify the correctness of the new implementations and their integration with existing trajectory functionalities.
- Updated `BoundsConstraint`, `EqualityConstraint`, `SymmetryConstraint`, and `TotalConstraint` to use variable names instead of indices. - Enhanced documentation for constraints, detailing fields and usage. - Modified constructors to handle both scalar and vector values for bounds and equality constraints. - Improved the application of constraints in the `IpoptSolverExt` and `constraints.jl` files to accommodate the new structure. - Added tests for various constraints to ensure functionality and correctness.
…gnatures and remove deprecated file
…raints and integrators - Removed unused Hessian functions and preallocated matrices in various objective types. - Updated `hessian_structure` methods to return sparse matrices instead of tuples. - Introduced a `CommonInterface` module to standardize evaluation and Jacobian/Hessian computations for integrators and constraints. - Modified integrator and constraint evaluations in the Ipopt solver to utilize the new common interface. - Enhanced the `TerminalObjective` constructor for better usability. - Cleaned up the code for clarity and efficiency, ensuring consistent handling of Hessians across objectives.
…h, and `IpoptOptions` type definitions.
…tor state dimension retrieval
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