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- Add control-free problems documentation and examples - Implement ExponentialGrowth and HarmonicOscillator test problems - Fix error display for zero reference objectives (use absolute error) - Make color thresholds consistent with test tolerances - Add unique IDs to all section headings to avoid anchor conflicts - Fix MD036 linting warnings in documentation - All 84 tests passing successfully BREAKING CHANGE: None (pure addition) Workaround: Uses u(t) penalty term (1e-5*u(t)^2) instead of u(t)==0 constraint Future: Remove u(t) declaration and penalty when native control-free syntax is implemented
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- Simplify page title to avoid redundancy - Update workaround explanation to reflect penalty term approach - Improve mathematical formatting consistency with other examples - Clarify that parameter estimation is a type of parameter optimization
…ample - Add manual-differential-geometry.md with comprehensive coverage of Lift, Lie derivative, Poisson bracket, Lie bracket, and ∂ₜ - Add example-singular-control.md demonstrating singular control computation on vehicle-with-drift problem - Include progressive examples: plain Julia functions → VectorField types → explicit kwargs - Add ∂ₜ to ctflows.jl reexports - Update reexport tests for VectorField and ∂ₜ - Update navigation in make.jl to include both new pages
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changed the title
- Show how to create Hamiltonian objects with autonomous/variable keywords - Explain that both Hamiltonians must have same dependencies - Add non-autonomous and variable examples
- Update documentation warning to reflect new CTFlows capability - Add comprehensive examples with plain functions (autonomous, non-autonomous, variable) - Add nested brackets and mixed VectorField/function examples - Add tip comparing plain functions vs explicit VectorField creation - Add extensive test suite for @lie macro with plain functions - All tests pass (89/89) ✅
- Specify that keywords are only needed when using only plain functions - When mixing with VectorField objects, keywords are inferred from VectorField - Removes ambiguity about when to specify autonomous/variable keywords
- Keywords are optional when using plain functions - Default values: autonomous=true, variable=false - Can specify only one keyword if needed - Clearer explanation of when keywords are required vs optional
- Clarify keyword usage for @lie macro (optional, defaults, single keyword) - Improve formatting of warning box with proper indentation - Standardize variable naming in examples (Hfg -> H, Z_func -> Z) - Update tip section with consistent naming and formatting - Documentation builds successfully ✅
- Add comments to control and state bounds in OCP definition - Fix mathematical calculations for singular control derivation - Correct H01, H001, and H101 Poisson bracket calculations - Add non-degeneracy condition proof - Simplify calculation flow and remove redundant steps - Enable draft mode for documentation build
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BREAKING CHANGE: None (pure addition)
Workaround: Uses u(t) penalty term (1e-5*u(t)^2) instead of u(t)==0 constraint
Future: Remove u(t) declaration and penalty when native control-free syntax is implemented