control-toolbox · ocots · Oct 25, 2025 · Oct 19, 2025 · Oct 25, 2025 · Oct 25, 2025
diff --git a/docs/problems.jl b/docs/problems.jl
@@ -116,7 +116,7 @@ function generate_documentation(
             nlp_oc_sol = NLPModelsIpopt.ipopt(nlp_oc; max_iter=0)
 
             # Build OptimalControl solution
-            ocp_sol = build_ocp_solution(docp, nlp_oc_sol)
+            ocp_sol = build_OCP_solution(docp, nlp_oc_sol)
 
             # get dimensions
             n = state_dimension(ocp_oc)
@@ -292,7 +292,7 @@ function generate_documentation(
         function print_numerical_comparisons(problem, docp, nlp_oc_sol, nlp_jp)
 
             # get relevant data from OptimalControl model
-            ocp_sol = build_ocp_solution(docp, nlp_oc_sol)
+            ocp_sol = build_OCP_solution(docp, nlp_oc_sol)
             t_oc = time_grid(ocp_sol)
             x_oc = state(ocp_sol).(t_oc)
             u_oc = control(ocp_sol).(t_oc)
@@ -376,7 +376,7 @@ function generate_documentation(
 
     ```@example main
     # build an ocp solution to use the plot from OptimalControl package
-    ocp_sol = build_ocp_solution(docp, nlp_oc_sol)
+    ocp_sol = build_OCP_solution(docp, nlp_oc_sol)
 
     # dimensions
     n = state_dimension(ocp_sol)

diff --git a/docs/src/tutorial-solve.md b/docs/src/tutorial-solve.md
@@ -49,7 +49,7 @@ nlp_sol.objective
 To recover the state, control, and costate, we recommend building an optimal control solution and using the associated getters (you can also retrieve the number of iterations and the objective value from the OCP solution):
 
 ```@example main
-ocp_sol = build_ocp_solution(docp, nlp_sol)
+ocp_sol = build_OCP_solution(docp, nlp_sol)
 
 t = time_grid(ocp_sol)  # t0, ..., tN = tf
 x = state(ocp_sol)      # function of time

diff --git a/src/OptimalControlProblems.jl b/src/OptimalControlProblems.jl
@@ -21,24 +21,6 @@ using OrderedCollections: OrderedDict
 using SolverCore
 import ADNLPModels: ADNLPModels, ADNLPModel
 
-# -----------------
-# SHOULD NO BE HERE ("triiiiiiiiiiiiiiit !!!" - bruit de sifflet)
-function build_ocp_solution(
-    docp::CTDirect.DOCP, nlp_solution::SolverCore.AbstractExecutionStats
-)
-    nlp_model_backend = if docp.nlp isa ADNLPModel
-        CTDirect.ADNLPBackend()
-    elseif docp.nlp isa ExaModel
-        CTDirect.ExaBackend()
-    else
-        throw(CTBase.IncorrectArgument("The NLP model is of unknown type."))
-    end
-    return CTDirect.build_OCP_solution(docp, nlp_solution; nlp_model=nlp_model_backend)
-end
-
-export build_ocp_solution
-#
-
 """
 $(TYPEDEF)
 

diff --git a/test/Project.toml b/test/Project.toml
@@ -22,7 +22,7 @@ Ipopt = "1"
 JuMP = "1"
 MadNLPMumps = "0.5"
 NLPModels = "0.21"
-NLPModelsIpopt = "0.10"
+NLPModelsIpopt = "0.11"
 OptimalControl = "1"
 Plots = "1"
 Printf = "1"

diff --git a/test/figures/init/beam.pdf b/test/figures/init/beam.pdf
diff --git a/test/figures/init/chain.pdf b/test/figures/init/chain.pdf
diff --git a/test/figures/init/double_oscillator.pdf b/test/figures/init/double_oscillator.pdf
diff --git a/test/figures/init/ducted_fan.pdf b/test/figures/init/ducted_fan.pdf
diff --git a/test/figures/init/electric_vehicle.pdf b/test/figures/init/electric_vehicle.pdf
diff --git a/test/figures/init/glider.pdf b/test/figures/init/glider.pdf
diff --git a/test/figures/init/insurance.pdf b/test/figures/init/insurance.pdf
diff --git a/test/figures/init/jackson.pdf b/test/figures/init/jackson.pdf
diff --git a/test/figures/init/robbins.pdf b/test/figures/init/robbins.pdf
diff --git a/test/figures/init/robot.pdf b/test/figures/init/robot.pdf
diff --git a/test/figures/init/rocket.pdf b/test/figures/init/rocket.pdf
diff --git a/test/figures/init/space_shuttle.pdf b/test/figures/init/space_shuttle.pdf
diff --git a/test/figures/init/steering.pdf b/test/figures/init/steering.pdf
diff --git a/test/figures/init/vanderpol.pdf b/test/figures/init/vanderpol.pdf
diff --git a/test/figures/solution/beam.pdf b/test/figures/solution/beam.pdf
diff --git a/test/figures/solution/chain.pdf b/test/figures/solution/chain.pdf
diff --git a/test/figures/solution/double_oscillator.pdf b/test/figures/solution/double_oscillator.pdf
diff --git a/test/figures/solution/ducted_fan.pdf b/test/figures/solution/ducted_fan.pdf
diff --git a/test/figures/solution/electric_vehicle.pdf b/test/figures/solution/electric_vehicle.pdf
diff --git a/test/figures/solution/glider.pdf b/test/figures/solution/glider.pdf
diff --git a/test/figures/solution/insurance.pdf b/test/figures/solution/insurance.pdf
diff --git a/test/figures/solution/jackson.pdf b/test/figures/solution/jackson.pdf
diff --git a/test/figures/solution/robbins.pdf b/test/figures/solution/robbins.pdf
diff --git a/test/figures/solution/robot.pdf b/test/figures/solution/robot.pdf
diff --git a/test/figures/solution/rocket.pdf b/test/figures/solution/rocket.pdf
diff --git a/test/figures/solution/space_shuttle.pdf b/test/figures/solution/space_shuttle.pdf
diff --git a/test/figures/solution/steering.pdf b/test/figures/solution/steering.pdf
diff --git a/test/figures/solution/vanderpol.pdf b/test/figures/solution/vanderpol.pdf
diff --git a/test/runtests.jl b/test/runtests.jl
@@ -26,13 +26,17 @@ const MAX_WALL_TIME = 500.0
 list_of_problems = OptimalControlProblems.problems()
 
 # Remove from the tests the following problems
-# problems_to_exclude = [
-#     :bioreactor, # no need to remove here since already removed in OptimalControlProblems.jl
-#     :cart_pendulum, # no need to remove here since already removed in OptimalControlProblems.jl
-#     :dielectrophoretic_particle, # no need to remove here since already removed in OptimalControlProblems.jl
-#     :moonlander, # no need to remove here since already removed in OptimalControlProblems.jl
-# ]
-# list_of_problems = setdiff(list_of_problems, problems_to_exclude)
+problems_to_exclude = [
+    # :bioreactor, # no need to remove here since already removed in OptimalControlProblems.jl
+    # :cart_pendulum, # no need to remove here since already removed in OptimalControlProblems.jl
+    # :dielectrophoretic_particle, # no need to remove here since already removed in OptimalControlProblems.jl
+    # :moonlander, # no need to remove here since already removed in OptimalControlProblems.jl
+    :ducted_fan,
+    :insurance,
+    :robot,
+    :space_shuttle,
+]
+list_of_problems = setdiff(list_of_problems, problems_to_exclude)
 
 # list_of_problems = [
 #     :jackson,
@@ -55,8 +59,8 @@ const VERBOSE = true # print or not details during tests
         :OptimalControl,        # convergence tests for OptimalControl models
         :OptimalControl_s,      # convergence tests for OptimalControl models
         :init,                  # comparison between OptimalControl and JuMP: init
-        # :solution,              # comparison between OptimalControl and JuMP: solution
-        # :quick,                 # quick comparison: objective rel error only
+        :solution,              # comparison between OptimalControl and JuMP: solution
+        :quick,                 # quick comparison: objective rel error only
         :parameters,            # tests with different parameters values, does no depend on `list_of_problems`
     )
         @testset "$(name)" verbose=VERBOSE begin
@@ -74,7 +78,7 @@ const VERBOSE = true # print or not details during tests
     display(problems());
     println()
 
-    @testset "available_problems" verbose=VERBOSE begin
-        @test LIST_OF_PROBLEMS_FINAL == problems()
-    end
+    # @testset "available_problems" verbose=VERBOSE begin
+    #     @test LIST_OF_PROBLEMS_FINAL == problems()
+    # end
 end
diff --git a/test/test_quick.jl b/test/test_quick.jl
@@ -54,7 +54,7 @@ function test_quick()
             )
             nlp = nlp_model(docp)
             nlp_sol = NLPModelsIpopt.ipopt(nlp; kwargs_ipopt...)
-            sol = build_ocp_solution(docp, nlp_sol)
+            sol = build_OCP_solution(docp, nlp_sol)
             o_oc = objective(sol)
 
             ########## OptimalControl_s ##########
@@ -64,8 +64,8 @@ function test_quick()
             nlp = nlp_model(docp)
             ocp = ocp_model(docp)
             nlp_sol = madnlp(nlp; kwargs_madnlp...)
-            sol = build_ocp_solution(docp, nlp_sol)
-            o_os = criterion(ocp) == :min ? objective(sol) : -objective(sol)
+            sol = build_OCP_solution(docp, nlp_sol)
+            o_os = objective(sol)
 
             ############### TEST ###############
             DEBUG && println("├─  objective")

diff --git a/test/utils.jl b/test/utils.jl
@@ -302,7 +302,7 @@ function comparison(; max_iter, test_name)
             nlp_oc = nlp_model(docp)
             ocp_oc = ocp_model(docp)
             nlp_sol = NLPModelsIpopt.ipopt(nlp_oc; options_ipopt...)
-            sol_oc = build_ocp_solution(docp, nlp_sol)
+            sol_oc = build_OCP_solution(docp, nlp_sol)
 
             t_oc = time_grid(sol_oc)
             x_oc = state(sol_oc).(t_oc)
@@ -324,12 +324,12 @@ function comparison(; max_iter, test_name)
             nlp_os = nlp_model(docp)
             ocp_os = ocp_model(docp)
             nlp_sol = madnlp(nlp_os; options_madnlp...)
-            sol_os = build_ocp_solution(docp, nlp_sol)
+            sol_os = build_OCP_solution(docp, nlp_sol)
 
             t_os = time_grid(sol_os)
             x_os = state(sol_os).(t_os)
             u_os = control(sol_os).(t_os)
-            o_os = criterion(ocp_os) == :min ? objective(sol_os) : -objective(sol_os)
+            o_os = objective(sol_os)
             i_os = iterations(sol_os)
             v_os = variable(sol_os)
             nb_var_os = get_nvar(nlp_os)