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enable moonlander, quadrotor and truck trailer #641

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Merged
PierreMartinon merged 3 commits into from
Oct 15, 2026
Merged

enable moonlander, quadrotor and truck trailer #641

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662c25e
enable moonlander, quadrotor and truck trailer
PierreMartinon Oct 13, 2026
aec4fcb
disable moonlander
PierreMartinon Oct 13, 2026
253ec2a
manual AD backend for quadrotor
PierreMartinon Oct 14, 2026
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46 changes: 23 additions & 23 deletions test/ci/test_all_ocp.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ end
test_problem(jackson())
end

# moonlander / quadrotor -- DISABLED, see control-toolbox/CTDirect.jl#626.
# moonlander -- DISABLED, see control-toolbox/CTDirect.jl#626.
#
# ADNLPModels' SparseReverseADHessian (used by the :manual and :optimized ADNLP
# backends) records its ReverseDiff tape on an *uninitialised* Vector{Dual} and
Expand All @@ -84,24 +84,24 @@ end
# throws `DomainError: sincos(x) is only defined for finite x` before any solve.
# Deterministic on the Julia 1.12 CI runners, flaky on 1.10.
# Upstream: JuliaSmoothOptimizers/ADNLPModels.jl#383
#
# NB: the ":quadrotor" testset below always ran moonlander() (copy-paste slip) --
# wire it to quadrotor() with adnlp_backend=:default when re-enabling (#626).
#
# if !isdefined(Main, :moonlander)
# include("../problems/moonlander.jl")
# end
# @testset verbose = true showtiming = true ":moonlander" begin
# test_problem(moonlander(); adnlp_backend=:manual)
# end

#if !isdefined(Main, :quadrotor)
# include("../problems/quadrotor.jl")

#if !isdefined(Main, :moonlander)
# include("../problems/moonlander.jl")
#end
#@testset verbose = true showtiming = true ":quadrotor" begin
# test_problem(quadrotor())
#@testset verbose = true showtiming = true ":moonlander" begin
# test_problem(moonlander(); adnlp_backend=:manual)
#end


# NB: the ":quadrotor" testset below always ran moonlander() (copy-paste slip) --
# quadrotor
if !isdefined(Main, :quadrotor)
include("../problems/quadrotor.jl")
end
@testset verbose = true showtiming = true ":quadrotor" begin
test_problem(quadrotor(); adnlp_backend=:manual)
end

# robbins
if !isdefined(Main, :robbins)
include("../problems/robbins.jl")
Expand All @@ -126,13 +126,13 @@ end
test_problem(space_shuttle())
end

# # truck trailer
# if !isdefined(Main, :truck_trailer)
# include("../problems/truck_trailer.jl")
# end
# @testset verbose = true showtiming = true ":truck_trailer" begin
# test_problem(truck_trailer(); adnlp_backend=:manual)
# end
# truck trailer
if !isdefined(Main, :truck_trailer)
include("../problems/truck_trailer.jl")
end
@testset verbose = true showtiming = true ":truck_trailer" begin
test_problem(truck_trailer(); adnlp_backend=:manual)
end

# vanderpol
if !isdefined(Main, :vanderpol)
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