Skip to content

test: disable CasADi tests on Julia-v1.10 #3817

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Jul 15, 2025
Merged

test: disable CasADi tests on Julia-v1.10 #3817

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
e4fcb26
test: disable CasADi tests on Julia-v1.10
AayushSabharwal Jul 15, 2025
a77cac9
test: some `LinearProblem` tests are no longer broken
AayushSabharwal Jul 15, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
107 changes: 68 additions & 39 deletions test/extensions/dynamic_optimization.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,8 @@ using Pyomo
import DiffEqBase: solve
const M = ModelingToolkit

const ENABLE_CASADI = VERSION >= v"1.11"

@testset "ODE Solution, no cost" begin
# Test solving without anything attached.
@parameters α=1.5 β=1.0 γ=3.0 δ=1.0
Expand All @@ -31,10 +33,13 @@ const M = ModelingToolkit
jsol = solve(jprob, JuMPCollocation(Ipopt.Optimizer, constructRK4()))
oprob = ODEProblem(sys, [u0map; parammap], tspan)
osol = solve(oprob, SimpleRK4(), dt = 0.01)
cprob = CasADiDynamicOptProblem(sys, [u0map; parammap], tspan, dt = 0.01)
csol = solve(cprob, CasADiCollocation("ipopt", constructRK4()))

@test jsol.sol.u ≈ osol.u
@test csol.sol.u ≈ osol.u
if ENABLE_CASADI
cprob = CasADiDynamicOptProblem(sys, [u0map; parammap], tspan, dt = 0.01)
csol = solve(cprob, CasADiCollocation("ipopt", constructRK4()))
@test csol.sol.u ≈ osol.u
end

# Implicit method.
osol2 = solve(oprob, ImplicitEuler(), dt = 0.01, adaptive = false)
Expand All @@ -43,8 +48,10 @@ const M = ModelingToolkit
iprob = InfiniteOptDynamicOptProblem(sys, [u0map; parammap], tspan, dt = 0.01)
isol = solve(iprob, InfiniteOptCollocation(Ipopt.Optimizer))
@test ≈(isol.sol.u, osol2.u, rtol = 0.001)
csol2 = solve(cprob, CasADiCollocation("ipopt", constructImplicitEuler()))
@test ≈(csol2.sol.u, osol2.u, rtol = 0.001)
if ENABLE_CASADI
csol2 = solve(cprob, CasADiCollocation("ipopt", constructImplicitEuler()))
@test ≈(csol2.sol.u, osol2.u, rtol = 0.001)
end
pprob = PyomoDynamicOptProblem(sys, [u0map; parammap], tspan, dt = 0.01)
psol = solve(pprob, PyomoCollocation("ipopt", BackwardEuler()))
@test all([≈(psol.sol(t), osol2(t), rtol = 1e-2) for t in 0.0:0.01:1.0])
Expand All @@ -61,11 +68,13 @@ const M = ModelingToolkit
@test jsol.sol(0.6; idxs = x(t)) ≈ 3.5
@test jsol.sol(0.3; idxs = x(t)) ≈ 7.0

cprob = CasADiDynamicOptProblem(
lksys, [u0map; parammap], tspan; guesses = guess, dt = 0.01)
csol = solve(cprob, CasADiCollocation("ipopt", constructTsitouras5()))
@test csol.sol(0.6; idxs = x(t)) ≈ 3.5
@test csol.sol(0.3; idxs = x(t)) ≈ 7.0
if ENABLE_CASADI
cprob = CasADiDynamicOptProblem(
lksys, [u0map; parammap], tspan; guesses = guess, dt = 0.01)
csol = solve(cprob, CasADiCollocation("ipopt", constructTsitouras5()))
@test csol.sol(0.6; idxs = x(t)) ≈ 3.5
@test csol.sol(0.3; idxs = x(t)) ≈ 7.0
end

pprob = PyomoDynamicOptProblem(
lksys, [u0map; parammap], tspan; guesses = guess, dt = 0.01)
Expand Down Expand Up @@ -100,10 +109,12 @@ const M = ModelingToolkit
psol = solve(pprob, PyomoCollocation("ipopt", MidpointEuler()))
@test all(u -> u > [1, 1], psol.sol.u)

cprob = CasADiDynamicOptProblem(
lksys, [u0map; parammap], tspan; guesses = guess, dt = 0.01)
csol = solve(cprob, CasADiCollocation("ipopt", constructRadauIA3()))
@test all(u -> u > [1, 1], csol.sol.u)
if ENABLE_CASADI
cprob = CasADiDynamicOptProblem(
lksys, [u0map; parammap], tspan; guesses = guess, dt = 0.01)
csol = solve(cprob, CasADiCollocation("ipopt", constructRadauIA3()))
@test all(u -> u > [1, 1], csol.sol.u)
end
end

function is_bangbang(input_sol, lbounds, ubounds, rtol = 1e-4)
Expand Down Expand Up @@ -143,11 +154,13 @@ end
# Test reached final position.
@test ≈(jsol.sol[x(t)][end], 0.25, rtol = 1e-5)

cprob = CasADiDynamicOptProblem(block, [u0map; parammap], tspan; dt = 0.01)
csol = solve(cprob, CasADiCollocation("ipopt", constructVerner8()))
@test is_bangbang(csol.input_sol, [-1.0], [1.0])
# Test reached final position.
@test ≈(csol.sol[x(t)][end], 0.25, rtol = 1e-5)
if ENABLE_CASADI
cprob = CasADiDynamicOptProblem(block, [u0map; parammap], tspan; dt = 0.01)
csol = solve(cprob, CasADiCollocation("ipopt", constructVerner8()))
@test is_bangbang(csol.input_sol, [-1.0], [1.0])
# Test reached final position.
@test ≈(csol.sol[x(t)][end], 0.25, rtol = 1e-5)
end

# Test dynamics
@parameters (u_interp::ConstantInterpolation)(..)
Expand All @@ -156,7 +169,9 @@ end
oprob = ODEProblem(block_ode, [u0map; [u_interp => spline]], tspan)
osol = solve(oprob, Vern8(), dt = 0.01, adaptive = false)
@test ≈(jsol.sol.u, osol.u, rtol = 0.05)
@test ≈(csol.sol.u, osol.u, rtol = 0.05)
if ENABLE_CASADI
@test ≈(csol.sol.u, osol.u, rtol = 0.05)
end

iprob = InfiniteOptDynamicOptProblem(block, [u0map; parammap], tspan; dt = 0.01)
isol = solve(iprob, InfiniteOptCollocation(Ipopt.Optimizer))
Expand Down Expand Up @@ -196,9 +211,11 @@ end
iprob = InfiniteOptDynamicOptProblem(beesys, [u0map; pmap], tspan, dt = 0.01)
isol = solve(iprob, InfiniteOptCollocation(Ipopt.Optimizer))
@test is_bangbang(isol.input_sol, [0.0], [1.0])
cprob = CasADiDynamicOptProblem(beesys, [u0map; pmap], tspan; dt = 0.01)
csol = solve(cprob, CasADiCollocation("ipopt", constructTsitouras5()))
@test is_bangbang(csol.input_sol, [0.0], [1.0])
if ENABLE_CASADI
cprob = CasADiDynamicOptProblem(beesys, [u0map; pmap], tspan; dt = 0.01)
csol = solve(cprob, CasADiCollocation("ipopt", constructTsitouras5()))
@test is_bangbang(csol.input_sol, [0.0], [1.0])
end
pprob = PyomoDynamicOptProblem(beesys, [u0map; pmap], tspan, dt = 0.01)
psol = solve(pprob, PyomoCollocation("ipopt", BackwardEuler()))
@test is_bangbang(psol.input_sol, [0.0], [1.0])
Expand All @@ -213,7 +230,9 @@ end
tspan)
osol = solve(oprob, Tsit5(); dt = 0.01, adaptive = false)
@test ≈(osol.u, jsol.sol.u, rtol = 0.01)
@test ≈(osol.u, csol.sol.u, rtol = 0.01)
if ENABLE_CASADI
@test ≈(osol.u, csol.sol.u, rtol = 0.01)
end
osol2 = solve(oprob, ImplicitEuler(); dt = 0.01, adaptive = false)
@test ≈(osol2.u, isol.sol.u, rtol = 0.01)
@test all([≈(psol.sol(t), osol2(t), rtol = 0.01) for t in 0.0:0.01:4.0])
Expand Down Expand Up @@ -246,10 +265,12 @@ end
jsol = solve(jprob, JuMPCollocation(Ipopt.Optimizer, constructRadauIIA5()))
@test jsol.sol[h(t)][end] > 1.012

cprob = CasADiDynamicOptProblem(
rocket, [u0map; pmap], (ts, te); dt = 0.001, cse = false)
csol = solve(cprob, CasADiCollocation("ipopt"))
@test csol.sol[h(t)][end] > 1.012
if ENABLE_CASADI
cprob = CasADiDynamicOptProblem(
rocket, [u0map; pmap], (ts, te); dt = 0.001, cse = false)
csol = solve(cprob, CasADiCollocation("ipopt"))
@test csol.sol[h(t)][end] > 1.012
end

iprob = InfiniteOptDynamicOptProblem(rocket, [u0map; pmap], (ts, te); dt = 0.001)
isol = solve(iprob, InfiniteOptCollocation(Ipopt.Optimizer))
Expand All @@ -269,7 +290,9 @@ end
oprob = ODEProblem(rocket_ode, merge(Dict(u0map), Dict(pmap), interpmap), (ts, te))
osol = solve(oprob, RadauIIA5(); adaptive = false, dt = 0.001)
@test ≈(jsol.sol.u, osol.u, rtol = 0.02)
@test ≈(csol.sol.u, osol.u, rtol = 0.02)
if ENABLE_CASADI
@test ≈(csol.sol.u, osol.u, rtol = 0.02)
end

interpmap1 = Dict(T_interp => ctrl_to_spline(isol.input_sol, CubicSpline))
oprob1 = ODEProblem(rocket_ode, merge(Dict(u0map), Dict(pmap), interpmap1), (ts, te))
Expand Down Expand Up @@ -302,10 +325,12 @@ end
@test isapprox(jsol.sol.t[end], 10.0, rtol = 1e-3)
@test ≈(M.objective_value(jsol), -92.75, atol = 0.25)

cprob = CasADiDynamicOptProblem(rocket, [u0map; pmap], (0, tf); steps = 201)
csol = solve(cprob, CasADiCollocation("ipopt", constructTsitouras5()))
@test isapprox(csol.sol.t[end], 10.0, rtol = 1e-3)
@test ≈(M.objective_value(csol), -92.75, atol = 0.25)
if ENABLE_CASADI
cprob = CasADiDynamicOptProblem(rocket, [u0map; pmap], (0, tf); steps = 201)
csol = solve(cprob, CasADiCollocation("ipopt", constructTsitouras5()))
@test isapprox(csol.sol.t[end], 10.0, rtol = 1e-3)
@test ≈(M.objective_value(csol), -92.75, atol = 0.25)
end

iprob = InfiniteOptDynamicOptProblem(rocket, [u0map; pmap], (0, tf); steps = 200)
isol = solve(iprob, InfiniteOptCollocation(Ipopt.Optimizer))
Expand Down Expand Up @@ -334,9 +359,11 @@ end
jsol = solve(jprob, JuMPCollocation(Ipopt.Optimizer, constructVerner8()))
@test isapprox(jsol.sol.t[end], 2.0, atol = 1e-5)

cprob = CasADiDynamicOptProblem(block, [u0map; parammap], (0, tf); steps = 51)
csol = solve(cprob, CasADiCollocation("ipopt", constructVerner8()))
@test isapprox(csol.sol.t[end], 2.0, atol = 1e-5)
if ENABLE_CASADI
cprob = CasADiDynamicOptProblem(block, [u0map; parammap], (0, tf); steps = 51)
csol = solve(cprob, CasADiCollocation("ipopt", constructVerner8()))
@test isapprox(csol.sol.t[end], 2.0, atol = 1e-5)
end

iprob = InfiniteOptDynamicOptProblem(block, [u0map; parammap], tspan; steps = 51)
isol = solve(iprob, InfiniteOptCollocation(Ipopt.Optimizer), verbose = true)
Expand Down Expand Up @@ -380,9 +407,11 @@ end
jsol = solve(jprob, JuMPCollocation(Ipopt.Optimizer, constructRK4()))
@test jsol.sol.u[end] ≈ [π, 0, 0, 0]

cprob = CasADiDynamicOptProblem(cartpole, [u0map; pmap], tspan; dt = 0.04)
csol = solve(cprob, CasADiCollocation("ipopt", constructRK4()))
@test csol.sol.u[end] ≈ [π, 0, 0, 0]
if ENABLE_CASADI
cprob = CasADiDynamicOptProblem(cartpole, [u0map; pmap], tspan; dt = 0.04)
csol = solve(cprob, CasADiCollocation("ipopt", constructRK4()))
@test csol.sol.u[end] ≈ [π, 0, 0, 0]
end

iprob = InfiniteOptDynamicOptProblem(cartpole, [u0map; pmap], tspan; dt = 0.04)
isol = solve(iprob,
Expand Down
6 changes: 2 additions & 4 deletions test/linearproblem.jl
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,8 +35,7 @@ ps = [p => A, q => b]
@test prob.ps[p * q] ≈ A * b

sol = solve(prob)
# https://github.com/SciML/LinearSolve.jl/issues/532
@test_broken SciMLBase.successful_retcode(sol)
@test SciMLBase.successful_retcode(sol)
@test prob.A * sol.u - prob.b≈zeros(3) atol=1e-10

A2 = rand(3, 3)
Expand Down Expand Up @@ -73,8 +72,7 @@ ps = [p => A, q => b]
@test prob3.ps[p * q] ≈ A * b

sol = solve(prob3)
# https://github.com/SciML/LinearSolve.jl/issues/532
@test_broken SciMLBase.successful_retcode(sol)
@test SciMLBase.successful_retcode(sol)
@test prob3.A * sol.u - prob3.b≈zeros(3) atol=1e-10
end
end
Expand Down
Loading