Add Percival

[ocots]

No description provided.

[jbcaillau]

@ocots nice to have added Percival in the doc 👍🏽

[jbcaillau]

@ocots this syntax has been changed in CTDirect 0.10 (and will be in OptimalControl next release) ; @PierreMartinon do you confirm it should be docp, nlp = direct_transcription(...)?

[ocots]

Yes. @PierreMartinon has already changed this file. We will have to merge both updates.

[ocots]

@ocots nice to have added Percival in the doc 👍🏽

Yes but it does not seem to work well. I have used the solution from ipopt as initial guess but no improvement compared to default initial guess.

[PierreMartinon]

@ocots maybe we merge this one first then update the 0.10.0 one ?

[ocots]

As you want. I can also update it later.

[PierreMartinon]

As you want. I can also update it later.

Done. All yours :D

[jbcaillau]

@ocots are you waiting to solve the conflicts below to release 0.10.0?

[ocots]

@jbcaillau No I am just waiting to dry 🏖

[jbcaillau]

@jbcaillau No I am just waiting to dry 🏖

@ocots while you're drying 🙂 #251 (comment)

[jbcaillau]

@PierreMartinon @ocots guys, can you please resolve and merge? I'm stuck in #257 seemingly because of this:

@ Documenter ~/.julia/packages/Documenter/qoyeC/src/utilities/utilities.jl:46
┌ Error: failed to run `@example` block in src/tutorial-nlp.md:39-42
│ ```@example main
│ docp, nlp = direct_transcription(ocp)
│ nothing # hide
│ ```
│   exception =
│    MethodError: no method matching iterate(::DOCP)

[ocots]

Ok I do it asap.

[PierreMartinon]

I fixed the tutorial conflict (2 calls to get_nlp removed)
By the way, I can look into having percival as a solver option for CTDirect. This would be a package extension as for ipopt. Ideally we would tailor the error message for missing packages (eg 'Please execute use NLPModelsIpopt / Percival(?)' when nlp_solver = ipopt / percival etc), cf the error types discussion.

[ocots]

I fixed the tutorial conflict (2 calls to get_nlp removed) By the way, I can look into having percival as a solver option for CTDirect. This would be a package extension as for ipopt. Ideally we would tailor the error message for missing packages (eg 'Please execute use NLPModelsIpopt / Percival(?)' when nlp_solver = ipopt / percival etc), cf the error types discussion.

Could be nice. Have you seen that it does not perform well on the example?

[PierreMartinon]

Not yet, I'll try the small benchmark series