CHANGELOG.md

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[0.10.1] - 2026-04-22

🚀 Enhancements

Clarified :exa Backend Error Message

• Improved error message: get_build_examodel now clearly explains that the Exa (:exa) modeler is unavailable for functional API (macro-free) models
• Actionable suggestions: Error message now suggests using ADNLP (:adnlp) or the @def macro from CTParser.jl
• Better context: Error reason explains the root cause (functional API does not generate Exa builder)
• Regression test: Added test_build_examodel.jl to verify error message content

🐛 Bug Fixes

• Fixed misleading error message that incorrectly suggested "dynamics" instead of "Exa modeler"

[0.10.0] - 2026-04-20

📦 Release

• Initial stable release version (no breaking changes from 0.9.15-beta)

[0.9.15-beta] - 2026-04-18

🚀 Enhancements

Box Constraint Aliases for Label Resolution

• Unified source of truth: Removed original_dict from ConstraintsModel and original_constraints() accessor
• Aliases field: Added aliases::Vector{Vector{Symbol}} as 5th element in box constraint tuples
• Label resolution: constraint(model, label) and dual(sol, model, label) now resolve labels via aliases
• Effective bounds: Returns intersected bounds when multiple constraints declared on same component
• Per-component duals: Dual matrices sized by state/control/variable dimension, not by number of declarations
• Deduplication warning: Single warning per component when duplicate bounds are declared

Dual Dimension Function Clarification

• Renamed functions: dim_*_constraints_box(sol) → dim_dual_*_constraints_box(sol) for clarity
• Multiple dispatch: _dual_dimension uses dispatch on Nothing (→ 0) and Function (→ length at t0)
• Display improvement: Dual variables only displayed if model has declared constraints
• New exports: dim_dual_state_constraints_box, dim_dual_control_constraints_box, dim_dual_variable_constraints_box

Optional Definition with EmptyDefinition Sentinel

• Type hierarchy: Introduced AbstractDefinition with concrete types Definition(expr::Expr) and EmptyDefinition (sentinel)
• Optional definition: PreModel.definition defaults to EmptyDefinition() instead of nothing
• Model parametric: Model is now parametric on DefinitionType<<:AbstractDefinition
• Expression getter: Added expression() function to extract Expr from AbstractDefinition
• Build relaxation: Removed precondition requiring definition in build()
• Display refactor: Split Display/print.jl into 5 focused files by responsibility
• Code organization: Moved definition setters to Components/definition.jl, Model getters to Building/model.jl

API Enhancements

# Definition is now optional
pre = PreModel()
pre.definition isa EmptyDefinition  # true by default

# Set definition via setter (auto-wraps Expr)
definition!(pre, quote
    t ∈ [0, 1], time
    x ∈ R, state
    u ∈ R, control
    ẋ(t) == u(t)
    ∫(0.5u(t)^2) → min
end)

# Extract expression
expr = expression(pre.definition)  # Returns the Expr

# Build without definition is now valid
model = build(pre)  # Works even without definition

User-Facing Model Predicates

• New predicates: Added user-friendly predicate methods for Model instances
• Exclusive to Model: Predicates are only available for immutable Model, not PreModel
• Consistent naming: Follows pattern has_* for presence checks, is_* for property checks
• New exports: has_variable, has_control, has_abstract_definition, is_abstractly_defined, is_nonautonomous, is_nonvariable

API Enhancements

# Check if problem has optimisation variables
has_variable(model)       # Alias for is_variable(model)
is_nonvariable(model)    # Opposite of is_variable(model)

# Check if problem has control input
has_control(model)        # Opposite of is_control_free(model)

# Check if problem has abstract definition
has_abstract_definition(model)      # Checks if definition is non-empty
is_abstractly_defined(model)        # Alias for has_abstract_definition

# Check time dependence
is_nonautonomous(model)             # Opposite of is_autonomous(model)

📊 API Changes

• Breaking: is_variable(ocp::PreModel), is_control_free(ocp::PreModel), is_autonomous(ocp::PreModel) removed
• New exports: has_variable, has_control, has_abstract_definition, is_abstractly_defined, is_nonautonomous, is_nonvariable
• Display code: Internal display functions use __is_*_empty predicates for PreModel, public predicates for Model

🔧 Internal Changes

• Predicate refactoring: Removed __is_*_set methods for Model (only __is_*_empty remains)
• PreModel access: Display code uses direct field access (ocp.autonomous) and internal predicates (__is_variable_empty, __is_control_empty)
• Model access: Public predicates (is_variable, is_control_free, is_autonomous) work for Model only
• Test updates: Migrated tests to use internal predicates for PreModel, public predicates for Model

[0.9.14] - 2026-04-12

🚀 Enhancements

Automatic Grid Extension for Memory Optimization

• Automatic grid unification: Time grids that differ by only the last element (e.g., T_control = T_state[1:end-1]) are automatically extended to enable UnifiedTimeGridModel
• Memory optimization: Extending grids allows using UnifiedTimeGridModel instead of MultipleTimeGridModel, reducing memory overhead
• No data modification: Trajectory data matrices remain unchanged; interpolation automatically handles extended grids via T[1:N]
• Transparent behavior: Extension is automatic and requires no user intervention
• Extension condition: Only applies when a grid is a strict prefix (missing exactly the last element): length(T_short) == length(T_long) - 1 AND T_short == T_long[1:end-1]

Improved Memory Efficiency

• More unified grids: Solutions with "almost identical" grids now benefit from unified grid model
• Reduced storage: Single grid stored instead of multiple separate grids
• Same API: No changes to user-facing API; behavior is fully backward compatible

📊 API Changes

# No API changes - behavior is automatic

# Before: Grids with missing last element used MultipleTimeGridModel
T_state = [0.0, 0.5, 1.0]
T_control = [0.0, 0.5]  # Missing last element
# Result: MultipleTimeGridModel (separate storage)

# After: Automatic extension enables UnifiedTimeGridModel
T_state = [0.0, 0.5, 1.0]
T_control = [0.0, 0.5]  # Missing last element
# Result: T_control automatically extended to [0.0, 0.5, 1.0]
# Result: UnifiedTimeGridModel (single grid storage)

🔧 Internal Changes

• New function: Added _extend_grid_to_match() helper function in solution.jl
• Grid extension logic: Integrated into build_solution() after validation, before grid detection
• Reference grid selection: Automatically selects longest grid as reference for extension
• All grids extended: T_state, T_control, T_costate, and T_path are all checked for extension
• Updated docstring: Added "Automatic Grid Extension" section to build_solution() documentation

🧪 Testing

• New test file: Added test/suite/ocp/test_grid_extension.jl
• Unit tests: Tests for extension logic (strict prefix detection, no extension for different grids)
• Integration tests: Tests for grid unification after extension
• Coverage: 8 tests passing, covering all extension scenarios

[0.9.12-beta] - 2026-04-03

🚀 Enhancements

Default Component for Multiple Time Grid Solutions

• Default time grid access: time_grid(sol) now works for MultipleTimeGridModel without explicit component specification
• Sensible default: When no component is specified, defaults to :state grid (most commonly used)
• Consistent API: Same time_grid(sol) syntax works for both unified and multiple time grid solutions
• Backward compatibility: All existing code with explicit component specification continues to work unchanged

Improved Developer Experience

• Reduced verbosity: No need to specify :state component for most common use case
• Intuitive behavior: State trajectory is the natural default for optimal control problems
• Cleaner code: Simplified access to time grids in multi-grid solutions

📊 API Changes

# Before (required component specification)
time_grid(sol_multi, :state)  # Required for MultipleTimeGridModel
time_grid(sol_unified)        # Worked for UnifiedTimeGridModel

# After (consistent behavior)
time_grid(sol_multi)          # Now works! Defaults to :state
time_grid(sol_multi, :state)  # Still works (explicit)
time_grid(sol_unified)        # Still works (unchanged)

🔧 Internal Changes

• Default function: Added __time_grid_default_component()::Symbol = :state in defaults.jl
• Method signature: Updated time_grid method for MultipleTimeGridModel with default parameter
• Removed exception: Eliminated method that threw IncorrectArgument for missing component
• Enhanced tests: Updated test suites to verify new default behavior

🧪 Testing

• Comprehensive coverage: All existing tests pass with new behavior
• Default behavior tests: Added tests for automatic component selection
• Compatibility verification: Confirmed backward compatibility with explicit specifications
• Integration testing: End-to-end testing of multi-grid workflows

📝 Migration Notes

• No breaking changes: Existing code continues to work unchanged
• Optional enhancement: Can adopt new shorter syntax when convenient
• Explicit still supported: time_grid(sol, :component) syntax remains fully functional

---

[0.9.11] - 2026-03-31

🔧 Internal Improvements

Code Quality and Maintenance

• Code formatting: Applied JuliaFormatter across entire codebase for consistent style
• Enhanced readability: Improved code formatting in interpolation, serialization, and display modules
• Test formatting: Updated test files for better maintainability
• Zero functional changes: All APIs remain unchanged, formatting only

Development Workflow

• CompatHelper enhancement: Added subdirectories input to CompatHelper workflow for better dependency management
• Automated formatting: Integrated JuliaFormatter in CI/CD pipeline
• Development tools: Improved development experience with consistent code style

📚 Documentation

• No breaking changes: This release focuses on internal code quality
• Maintained compatibility: All existing functionality preserved
• Enhanced maintainability: Cleaner codebase for future development

---

[0.9.10-beta] - 2026-03-17

🎨 Documentation Enhancements

ANSI Color Support for Documenter

• Printstyled to ANSI migration: Replaced printstyled() calls with raw ANSI escape sequences for Documenter compatibility
• Color preservation: Colors now appear correctly in both terminal and generated HTML documentation
• ANSI helper functions: Added _ansi_color(), _ansi_reset(), and _print_ansi_styled() utilities
• Documenter integration: ANSI sequences automatically converted to CSS classes (sgrXX) in HTML output
• Zero breaking changes: Complete backward compatibility maintained for existing terminal usage

🔧 Internal Improvements

• Display system refactoring: 7 printstyled() calls migrated in src/Display/print.jl
• Enhanced color support: Bold and colored text now works in documentation examples
• Performance optimized: ANSI sequences have minimal overhead compared to printstyled()
• Test coverage: All display tests passing with new ANSI implementation

📚 Documentation Quality

• Better visual hierarchy: Mathematical problem definitions now properly colored in docs
• Improved readability: "Abstract definition", "minimize", and "subject to" sections highlighted
• Consistent experience: Terminal and documentation displays now visually identical

---

[0.9.9-beta] - 2026-03-17

🚀 Major Features

Flexible Control Interpolation System

• Dual interpolation support: Both piecewise constant (:constant) and piecewise linear (:linear) interpolation for control signals
• Configurable interpolation: New control_interpolation keyword argument in build_solution signatures
• Dynamic plotting: Automatic seriestype selection based on interpolation type (:steppost for constant, :path for linear)
• Serialization support: Full round-trip preservation of interpolation type in JSON/JLD2 formats
• Backward compatibility: Existing files without control_interpolation field default to :constant

Enhanced Control Architecture

• ControlModelSolution: Added interpolation::Symbol field to store interpolation type
• Accessors: New control_interpolation(sol::Solution) and interpolation(model::ControlModelSolution) methods
• Default system: Centralized __control_interpolation()::Symbol = :constant method for consistent defaults
• Export system: control_interpolation added to CTModels exports for public API access

📊 API Enhancements

# Flexible interpolation in build_solution
sol = CTModels.build_solution(ocp, T_state, T_control, T_costate, T_path, X, U, v, P; 
                           control_interpolation=:linear)  # or :constant

# Access interpolation type
interp_type = CTModels.control_interpolation(sol)  # Returns :constant or :linear

# Automatic plotting adaptation
plot(sol, :control)  # Uses :steppost for constant, :path for linear

🔧 Serialization & Compatibility

• JSON/JLD2 preservation: Interpolation type survives complete export/import cycles
• Backward compatibility: Files without interpolation field default to :constant
• Cross-format compatibility: JSON ↔ JLD2 interpolation preservation verified
• Comprehensive testing: 1751 tests passing with full serialization coverage

🧪 Testing & Quality

• Comprehensive test suite: 96 new interpolation-specific tests added
• Integration testing: End-to-end testing from creation to serialization to plotting
• Compatibility testing: Backward compatibility with existing solutions verified
• Performance validation: No performance impact on existing workflows

📝 Internal Improvements

• Consistent defaults: __control_interpolation() method used across all components
• Clean architecture: Separation of interpolation logic from core functionality
• Enhanced extensions: JSON and JLD2 extensions updated with interpolation support
• Documentation: Complete docstrings and examples for new features

---

[0.9.8-beta] - 2026-03-16

🚀 Major Features

Piecewise Constant Interpolation for Control Signals

• New ctinterpolate_constant function: Implements right-continuous steppost behavior for control signals
• Control interpolation: Controls now use interpolation=:constant by default in build_solution
• Plotting integration: Default seriestype=:steppost for control plotting, consistent with interpolation
• Performance optimized: Manual implementation ~20x-8600x faster to create, 10-21% faster for multiple evaluations

Enhanced Interpolation System

• Parameterized interpolation: build_interpolated_function now accepts interpolation::Symbol (:linear, :constant)
• Manual ctinterpolate: Replaced Interpolations.jl dependency with high-performance manual implementation
• Flat extrapolation: Both interpolation functions use flat extrapolation (returns boundary values)

📊 Performance Improvements

• Creation speed: Manual interpolation objects are ~20x-8600x faster to create
• Evaluation speed: 10-21% faster for multiple evaluations
• Memory efficiency: Zero allocations for interpolation object creation
• Benchmark verified: Comprehensive performance testing in .extras/benchmark_interpolation.jl

🧪 Testing

• 3456 tests pass: Complete test coverage including new interpolation functionality
• 75 interpolation tests: Unit tests + comprehensive integration tests
• Behavior verification: Tests confirm right-continuous steppost behavior
• Integration testing: End-to-end testing from build_solution to control() interpolation
• Performance benchmarking: Comprehensive testing in .extras/benchmark_interpolation.jl

📝 API Changes

# New constant interpolation
interp = CTModels.ctinterpolate_constant(x, f)  # Right-continuous steppost

# Enhanced interpolation helpers
fu = OCP.build_interpolated_function(U, T, dim, type; interpolation=:constant)

# Control plotting with steppost (automatic)
plot(sol, :control)  # Uses seriestype=:steppost by default

🔧 Internal Changes

• Dependency reduction: Manual interpolation implementation reduces Interpolations.jl dependency
• Code clarity: Explicit interpolation behavior with comprehensive documentation
• Cohesion: Interpolation and plotting behaviors are now fully consistent

---

[0.9.7] - 2026-03-11

Added - 0.9.7

• OCP Without Control Input: Optimal control problems can now be built and solved without defining a control variable (control_dimension(ocp) == 0)
  • PreModel defaults to an EmptyControlModel() when control! is not called
  • build accepts models without control while preserving backward compatibility

Changed - 0.9.7

• Relaxed Preconditions: dynamics! and objective! no longer require control to be set (control is optional)
• Constraints: constraint! only requires control when type == :control
• Plotting: Requesting :control in plot descriptions is ignored when control_dimension(sol) == 0
• Initialization: initial_control(ocp, Float64[]) is accepted when control_dimension(ocp) == 0

Fixed - 0.9.7

• Serialization Round-Trip Coverage: Added JSON/JLD2 round-trip tests for solutions with control_dimension == 0
• Documentation Accuracy: Updated docstrings for control-optional behavior (build/dynamics/objective/constraints/plotting/display)

[0.9.6] - 2026-03-10

Added

• Dedicated Costate Time Grid: Reintroduced independent T_costate time grid for costate trajectories

  • build_solution now accepts 4 independent time grids: T_state, T_control, T_costate, T_path
  • Costate can now use a different discretization from state (e.g., for symplectic integrators)
  • MultipleTimeGridModel extended to include :costate grid
  • clean_component_symbols updated to map :costate → :costate (own grid)
  • time_grid(sol, :costate) now returns the costate-specific grid
  • All tests passing (3324/3324)

• Enhanced Serialization: Multi-grid format now includes time_grid_costate

  • JSON/JLD export includes dedicated costate grid
  • Backward compatibility: files without time_grid_costate use T_state as fallback
  • Automatic format detection and conversion

• Comprehensive Documentation: Added detailed docstrings explaining time grid semantics

  • build_solution: 173 lines of detailed documentation on 4-grid system
  • _serialize_solution: 128 lines explaining serialization formats
  • _discretize_all_components: 41 lines on grid-component associations
  • Complete examples and usage patterns

Changed

• Time Grid Validation: time_grid getter now accepts :costate for both UnifiedTimeGridModel and MultipleTimeGridModel
• Legacy Signature: build_solution(ocp, T, X, U, v, P; ...) now forwards to 4-grid version with T_state = T_control = T_costate = T_path = T
• Plotting: Costate now maps to its dedicated grid in _map_to_time_grid_component

Fixed

• Grid Optimization: Solutions with identical grids automatically use UnifiedTimeGridModel for memory efficiency
• Test Coverage: All multi-grid tests updated to use 4-grid signature and verify costate grid independence

[0.9.5] - 2026-03-09

Fixed

• Variable API Cleanup: Removed redundant variable(sol::AbstractSolution) method
  • Eliminated potential semantic inconsistency between different AbstractSolution subtypes
  • Solution concrete type already provides specific method that returns value(sol.variable)
  • Test types like DummySolution1DVar now require explicit implementations
  • Improved API clarity - each AbstractSolution subtype must implement explicit variable() method
  • All tests pass (2941/2941) - no functional impact on users

Changed

• Internal Architecture: Cleaner method dispatch for variable extraction
  • Removed generic fallback that could return inconsistent data types
  • Each solution type now has explicit, well-defined variable extraction behavior
  • Enhanced maintainability and reduced potential for type confusion

[0.9.4] - 2026-03-09

Changed

• Code Formatting: Applied JuliaFormatter across entire codebase

  • Consistent code style throughout all source files
  • Improved readability and maintainability
  • No functional changes - formatting only

• Documentation: Fixed formatting issues in documentation files

  • Resolved duplicate text in BREAKING.md
  • Cleaned up markdown formatting
  • Enhanced documentation consistency

Fixed

• Documentation Issues: Resolved formatting inconsistencies
  • Fixed duplicate text in v0.9.2 section of BREAKING.md
  • Improved markdown structure and readability
  • Ensured consistent documentation style

[0.9.3] - 2026-03-08

Changed - v0.9.3

• Testing Standards Overhaul: Complete migration of all test files to CTModels testing standards

  • Replaced all using with import statements for proper module isolation
  • Added explicit Test macro imports (@test, @testset, @test_throws, etc.)
  • Qualified all function calls with module prefixes (Test., CTModels., etc.)
  • Structured tests hierarchically with "Abstract Types" and specific test sections
  • Added VERBOSE and SHOWTIMING constants from Main.TestData for configurable output
  • Included critical outer scope function redefinitions for TestRunner compatibility
  • Preserved all existing test logic and functionality (895 tests passing)

• Test Suite Modernization: Enhanced test organization and reliability

  • Updated test/runtests.jl with improved test discovery and execution
  • Migrated 22 OCP test files to new standards (test/suite/ocp/test_*.jl)
  • Improved test isolation and reduced namespace pollution
  • Enhanced test output formatting and timing information
  • Better integration with CTBase testing infrastructure

Fixed - v0.9.3

• Test Compatibility: Resolved TestRunner integration issues
  • Fixed outer scope function redefinitions for proper test discovery
  • Eliminated namespace conflicts between test modules
  • Improved test execution reliability and reproducibility
  • Enhanced error reporting and debugging capabilities

Test Coverage

• Comprehensive Test Migration: All 895 tests successfully migrated
  • OCP Components: 22 files completely refactored
  • Test execution time: 31.3s (full suite)
  • 100% backward compatibility maintained
  • Enhanced test reliability and maintainability

[0.9.2] - 2026-03-05

Added

• Multi-Time-Grid System: Complete implementation of multiple time grid support

  • New UnifiedTimeGridModel for single time grid solutions
  • New MultipleTimeGridModel for different time grids per component
  • New time_grid_model() getter function for accessing time grid models
  • Enhanced time_grid() function with component-specific access
  • Support for empty dual grids with nothing values

• Enhanced Serialization: Dual format support for backward compatibility

  • Legacy format preservation for existing solutions
  • New multi-grid format with component-specific time grids
  • _serialize_solution() function now exported for advanced usage
  • Automatic format detection and conversion

• Component Symbol Cleaning: Order-preserving component name normalization

  • clean_component_symbols() function preserves input order
  • Plural to singular conversion (:states → :state, :controls → :control)
  • Ambiguous term mapping (:constraint → :path, :cons → :path)
  • Duplicate removal while maintaining original sequence

• Plotting Enhancements: Multi-time-grid compatible plotting system

  • Component mapping for special plotting symbols (:control_norm → :control)
  • Path constraint plotting support (:path_constraint → :state)
  • Dual constraint plotting (:dual_path_constraint → :dual)
  • Robust error handling for invalid component specifications

Changed - v0.9.2

• Build Solution API: Enhanced multi-grid support in build_solution()

  • Accepts separate time grids for state, control, costate, and dual components
  • Automatic conversion from LinRange to Vector{Float64} for compatibility
  • Improved error messages for mismatched grid and data sizes
  • Better type stability for UnifiedTimeGridModel operations

• Exception Handling: Improved error messages and formatting

  • IncorrectArgument exceptions with semicolon-separated named arguments
  • Better localization of errors with file, line, and function information
  • Actionable error messages with suggestions for fixes

Fixed - v0.9.2

• Type Stability: Resolved type inference issues in multi-time-grid operations

  • UnifiedTimeGridModel operations are now fully type-stable
  • MultipleTimeGridModel handles Union return types gracefully
  • Proper type annotations for time grid getter functions

• Data Grid Consistency: Fixed bounds errors in multi-grid test cases

  • Corrected data matrix sizes to match corresponding time grids
  • Proper handling of different grid sizes in test scenarios
  • Improved interpolation for mismatched grid dimensions

Test Coverage - v0.9.2

• Comprehensive Test Suite: 79 tests passing (100% success rate)
  • Time Grid Models: 10 tests
  • Component Symbol Cleaning: 15 tests
  • Build Solution with Multiple Grids: 14 tests
  • Time Grid Getters: 17 tests
  • Serialization with Multiple Grids: 9 tests
  • Backward Compatibility: 5 tests
  • Error Handling: 3 tests
  • Type Stability: 6 tests

[0.9.1] - 2026-03-02

Removed

• Test Extras Cleanup: Removed test/extras/ directory and all experimental test files
  • Removed test/extras/Project.toml
  • Removed debugging scripts (debug_stack.jl)
  • Removed experimental dynamics tests (dynamics.jl)
  • Removed export/import tests (export_import.jl)
  • Removed plotting experiments (plot_duals.jl, plot_manual.jl, plot_series.jl, plot_variable.jl)
  • Removed utility tests (print_model.jl, test_deepcopy_necessity.jl, test_jld2_roundtrip.jl, test_manual.jl)
  • Updated .gitignore to reflect cleanup

Changed

• Repository Hygiene: Cleaner test structure focusing on production test suite
  • All functionality is covered by the main test suite
  • Removed ~900 lines of experimental/debugging code
  • Improved maintainability and clarity

[0.9.0-beta] - 2026-02-12

Breaking

• Module Renaming: InitialGuess module renamed to Init for better API ergonomics
  • InitialGuess module → Init module
  • OptimalControlPreInit type → PreInitialGuess type
  • AbstractOptimalControlPreInit type → AbstractPreInitialGuess type
  • Action Required: Update imports and type references

Changed

• API Ergonomics: Shorter, more intuitive module and type names
  • CTModels.InitialGuess → CTModels.Init
  • Improved developer experience with concise naming
  • Updated all documentation references

Added

• Module Organization: Consolidated Init module structure
  • Reorganized under src/Init/ directory
  • Updated exports and imports throughout codebase
  • All tests updated to use new naming (3146 tests passing)

Migration Guide

# Before
using CTModels.InitialGuess
pre = CTModels.OptimalControlPreInit(...)

# After
using CTModels.Init  
pre = CTModels.PreInitialGuess(...)

[0.8.2-beta] - 2026-02-12

Changed

• InitialGuess Architecture: Refactored validation system following Single Responsibility Principle
  • initial_guess() is now pure construction (no validation)
  • build_initial_guess() centralises validation for ALL input types
  • Fixed validation hole: direct AbstractInitialGuess now properly validated
  • Internal builders (_initial_guess_from_*) return without validation
  • Updated docstrings to reflect construction/validation separation

Added

• Regression Tests: Comprehensive test coverage for refactored validation
  • Tests for invalid direct InitialGuess detection
  • Tests for construction/validation separation
  • Tests for centralised validation in all branches
  • All 147 tests passing

Fixed

• Validation Gap: Direct AbstractInitialGuess passed to build_initial_guess was not being validated, creating a potential runtime error source
• Architecture: Improved code organization with clear separation of concerns

[0.8.1-beta] - 2026-02-10

Changed

• Project Configuration: Updated GitHub workflows to use CTActions shared workflows

  • Coverage workflow now uses control-toolbox/CTActions/.github/workflows/coverage.yml@main
  • Documentation workflow now uses control-toolbox/CTActions/.github/workflows/documentation.yml@main
  • Improved consistency with other Control Toolbox projects

• Repository Management: Enhanced .gitignore configuration

  • Added .agent/, .windsurf/, and .reports/ directories to gitignore
  • Cleaned up Git history by removing previously tracked temporary directories
  • Better separation between source code and development artifacts

Fixed

• Removed development artifacts from Git tracking while preserving local files
• Improved repository hygiene and reduced noise in version control

[0.8.0-beta] - 2026-02-04

Breaking

• Module Migration: Major refactoring with modules migrated to CTSolvers
  • Moved modules: Options, Strategies, Orchestration, Optimization, Modelers, DOCP
  • Updated dependencies and compatibility requirements
  • Code cleanup and removal of migrated components
  • Action Required: Projects using migrated modules must update to CTSolvers

Added

• Complete Documentation Overhaul: Modern documentation with CTBase.automatic_reference_documentation

  • Full API reference with automatic generation
  • Integrated extensions documentation (Plots, JSON, JLD2)
  • Comprehensive docstrings following project standards
  • Cross-references and improved navigation

• Enhanced Extensions: Better integration and usability

  • Export of plot and plot! from CTModelsPlots extension
  • Extensions now documented in main API reference
  • Improved developer experience

• Rich Documentation: New docstring for build_model() and other critical functions

  • Complete parameter documentation
  • Usage examples and best practices
  • Error handling documentation

Changed

• Code Quality: Significant cleanup and optimization

  • Removed migrated module code
  • Updated imports and dependencies
  • Improved type stability and performance

• Testing: Comprehensive test suite

  • 3135 tests passing (100% success rate)
  • Full coverage of remaining functionality
  • Integration tests for extensions

Fixed

• Documentation generation issues resolved
• Cross-reference warnings handled gracefully
• Extension integration improvements

[Unreleased]

[0.7.1-beta] - 2026-01-22

Added

• New extract_solver_infos function to extract convergence information from NLP solver execution statistics
• MadNLP extension (CTModelsMadNLP) for MadNLP-specific solver information extraction

Changed

• Widened CTBase compatibility to support versions 0.16 and 0.17

[0.7.0-beta] - 2026-01-22

Changed

• Breaking change migration: CTModels 0.6.10 → 0.7.0-beta
• Widened CTBase compatibility from 0.17 to 0.16, 0.17

[0.7.0] - 2026-01-18

Changed

• Version bump to 0.7.0

---

Version History

For older versions, see the GitHub releases.

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Categories

• Added for new features
• Changed for changes in existing functionality
• Deprecated for soon-to-be removed features
• Removed for now removed features
• Fixed for any bug fixes
• Security in case of vulnerabilities