Add comprehensive state constraint example with Bryson-Denham problem#758

Merged

ocots merged 17 commits intomainfrom

state-constraint

Apr 14, 2026

Commits on Apr 14, 2026

Extract state constraint example to separate file
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Add second-order state constraint (Bryson-Denham) to state constraint example
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Add references to state constraint theory in intro (Bryson 1963, Jacobson 1971)
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Fix list items to not start with math expressions
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Fix order-2 solution structure and add Bryson & Ho 1975 reference
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Refactor order-2 section: use make_ocp(a) function to avoid duplication
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Add indirect method for touch point case (a=0.2) in order-2 section
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Add t1 = 1/2 to analytical solution and minor code cleanup
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Add indirect method for boundary arc case (a=0.1) in order-2 section
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Expand boundary arc description with adjoint chain explanation
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Add Hamiltonian expression to boundary arc description with adapted notation
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Superpose indirect arc solution on touch point plot using plot
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Add transition text between make_ocp definition and solve cells
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Use findall pattern for entry/exit time extraction in order-1 case
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Final changes: adjust epsilon for arc guess and update docs Project.toml
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Update CHANGELOG for v2.0.2 with state constraint example documentation
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Enable draft mode for state constraint example
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