feat: enhance DirectTrajOptProblem to handle global component data in NM (#47)

* feat: enhance DirectTrajOptProblem to handle global component data in NamedTrajectory

* patch ver for global handling

---------

Co-authored-by: Aaron Trowbridge <aaron.j.trowbridge@gmail.com>

Author: jack-champagne

Project.toml

@@ -1,6 +1,6 @@
 name = "DirectTrajOpt"
 uuid = "c823fa1f-8872-4af5-b810-2b9b72bbbf56"
-version = "0.8.0"
+version = "0.8.1"
 authors = ["Aaron Trowbridge <aaron.j.trowbridge@gmail.com> and contributors"]
 
 [deps]

src/problems.jl

@@ -79,15 +79,36 @@ function DirectTrajOptProblem(
         timestep_dim = traj.dims[timestep_var]
         new_bounds = merge(traj.bounds, (; timestep_var => (zeros(timestep_dim), fill(Inf, timestep_dim))))
 
-        traj = NamedTrajectory(
-            NamedTuple(name => traj[name] for name in traj.names);
-            timestep=traj.timestep,
-            controls=traj.control_names,
-            bounds=new_bounds,
-            initial=traj.initial,
-            final=traj.final,
-            goal=traj.goal
-        )
+        # Extract component data
+        comps_data = NamedTuple(name => traj[name] for name in traj.names)
+        
+        # Extract global component data if present
+        if traj.global_dim > 0
+            gcomps_data = NamedTuple(
+                name => Vector(traj.global_data[traj.global_components[name]]) 
+                for name in keys(traj.global_components)
+            )
+            traj = NamedTrajectory(
+                comps_data,
+                gcomps_data;
+                timestep=traj.timestep,
+                controls=traj.control_names,
+                bounds=new_bounds,
+                initial=traj.initial,
+                final=traj.final,
+                goal=traj.goal
+            )
+        else
+            traj = NamedTrajectory(
+                comps_data;
+                timestep=traj.timestep,
+                controls=traj.control_names,
+                bounds=new_bounds,
+                initial=traj.initial,
+                final=traj.final,
+                goal=traj.goal
+            )
+        end
     end
 
     traj_constraints = get_trajectory_constraints(traj)