Issues

• perf: package precompile hygiene — compile workloads, invalidation gate, JET hot-path CI

  hitl
  harmoniqs/DirectTrajOpt.jl#154 · Filter by author aarontrowbridge opened on Sep 20, 2026

• Bare DirectTrajOptProblem + TerminalObjective: Ipopt restoration stall (inf_du spike ~1e3 at iter 1) — dynamics-violating returns, warp-independent

  hitl
  harmoniqs/DirectTrajOpt.jl#153 · Filter by author aarontrowbridge opened on Aug 31, 2026

• C2 (MadNLP-first): SolveStats on the MadNLP arm, status vocabulary, option-mapping enumeration, call-site audit

  afk
  harmoniqs/DirectTrajOpt.jl#151 · Filter by author aarontrowbridge opened on Aug 30, 2026

• Time rescaling integration: derived timesteps via a warp (phased plan — NT data layer → DTO evaluator → Piccolo templates → Altissimo)

  afk
  harmoniqs/DirectTrajOpt.jl#148 · Filter by author aarontrowbridge opened on Aug 28, 2026

• ci: weekly scheduled benchmark run on main — keep the comparison baseline fresh

  hitl
  harmoniqs/DirectTrajOpt.jl#146 · Filter by author aarontrowbridge opened on Aug 27, 2026

• Add SolverState API to thread lambda,mu,rho,LBFGS across solve! calls (QILC warm-start)

  enhancement
  harmoniqs/DirectTrajOpt.jl#127 · Filter by author aarontrowbridge opened on Aug 10, 2026

• Add CONTRIBUTING.md, issue templates, and PR template

  hitl
  harmoniqs/DirectTrajOpt.jl#125 · Filter by author aarontrowbridge opened on Aug 9, 2026

• direct traj opt docs + qc doctrings

  harmoniqs/DirectTrajOpt.jl#29 · Filter by author jack-champagne opened on Oct 6, 2025

• Parametric objectives and constraints

  harmoniqs/DirectTrajOpt.jl#22 · Filter by author andgoldschmidt opened on May 21, 2025