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Merge pull request #1 from TUM-ITR/Julia_Ipopt_dev
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Added Julia IPOPT implementation
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rlefringhausen authored May 23, 2024
2 parents e871b3c + d1b7f8c commit bda9280
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Showing 17 changed files with 1,545 additions and 189 deletions.
80 changes: 79 additions & 1 deletion Julia/Manifest.toml
Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,19 @@

julia_version = "1.10.3"
manifest_format = "2.0"
project_hash = "27831aa37d3f7798daa210cbedbee49af6d6a89c"
project_hash = "67387cdd1a478cc1fcb3c008519a364575bf3c4a"

[[deps.ANSIColoredPrinters]]
git-tree-sha1 = "574baf8110975760d391c710b6341da1afa48d8c"
uuid = "a4c015fc-c6ff-483c-b24f-f7ea428134e9"
version = "0.0.1"

[[deps.ASL_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "6252039f98492252f9e47c312c8ffda0e3b9e78d"
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Expand Down Expand Up @@ -125,6 +131,12 @@ git-tree-sha1 = "70232f82ffaab9dc52585e0dd043b5e0c6b714f1"
uuid = "fb6a15b2-703c-40df-9091-08a04967cfa9"
version = "0.1.12"

[[deps.CodecBzip2]]
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version = "0.8.2"

[[deps.CodecZlib]]
deps = ["TranscodingStreams", "Zlib_jll"]
git-tree-sha1 = "59939d8a997469ee05c4b4944560a820f9ba0d73"
Expand Down Expand Up @@ -472,6 +484,12 @@ git-tree-sha1 = "eb8fed28f4994600e29beef49744639d985a04b2"
uuid = "3e5b6fbb-0976-4d2c-9146-d79de83f2fb0"
version = "0.1.16"

[[deps.Hwloc_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl"]
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uuid = "e33a78d0-f292-5ffc-b300-72abe9b543c8"
version = "2.10.0+0"

[[deps.HypergeometricFunctions]]
deps = ["DualNumbers", "LinearAlgebra", "OpenLibm_jll", "SpecialFunctions"]
git-tree-sha1 = "f218fe3736ddf977e0e772bc9a586b2383da2685"
Expand Down Expand Up @@ -499,6 +517,18 @@ git-tree-sha1 = "b7bc05649af456efc75d178846f47006c2c4c3c7"
uuid = "a98d9a8b-a2ab-59e6-89dd-64a1c18fca59"
version = "0.13.6"

[[deps.Ipopt]]
deps = ["Ipopt_jll", "LinearAlgebra", "MathOptInterface", "OpenBLAS32_jll", "PrecompileTools"]
git-tree-sha1 = "3cb39c81e713245d61de9d2aafa53489e3ab6e9b"
uuid = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
version = "1.6.2"

[[deps.Ipopt_jll]]
deps = ["ASL_jll", "Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "MUMPS_seq_jll", "SPRAL_jll", "libblastrampoline_jll"]
git-tree-sha1 = "546c40fd3718c65d48296dd6cec98af9904e3ca4"
uuid = "9cc047cb-c261-5740-88fc-0cf96f7bdcc7"
version = "300.1400.1400+0"

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Expand Down Expand Up @@ -528,6 +558,18 @@ git-tree-sha1 = "3336abae9a713d2210bb57ab484b1e065edd7d23"
uuid = "aacddb02-875f-59d6-b918-886e6ef4fbf8"
version = "3.0.2+0"

[[deps.JuMP]]
deps = ["LinearAlgebra", "MacroTools", "MathOptInterface", "MutableArithmetics", "OrderedCollections", "PrecompileTools", "Printf", "SparseArrays"]
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uuid = "4076af6c-e467-56ae-b986-b466b2749572"
version = "1.21.1"

[deps.JuMP.extensions]
JuMPDimensionalDataExt = "DimensionalData"

[deps.JuMP.weakdeps]
DimensionalData = "0703355e-b756-11e9-17c0-8b28908087d0"

[[deps.LAME_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "f6250b16881adf048549549fba48b1161acdac8c"
Expand Down Expand Up @@ -697,6 +739,18 @@ weakdeps = ["ChainRulesCore", "ForwardDiff", "SpecialFunctions"]
ForwardDiffExt = ["ChainRulesCore", "ForwardDiff"]
SpecialFunctionsExt = "SpecialFunctions"

[[deps.METIS_jll]]
deps = ["Artifacts", "JLLWrappers", "Libdl", "Pkg"]
git-tree-sha1 = "1fd0a97409e418b78c53fac671cf4622efdf0f21"
uuid = "d00139f3-1899-568f-a2f0-47f597d42d70"
version = "5.1.2+0"

[[deps.MUMPS_seq_jll]]
deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "METIS_jll", "libblastrampoline_jll"]
git-tree-sha1 = "840b83c65b27e308095c139a457373850b2f5977"
uuid = "d7ed1dd3-d0ae-5e8e-bfb4-87a502085b8d"
version = "500.600.201+0"

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deps = ["Markdown", "Random"]
git-tree-sha1 = "2fa9ee3e63fd3a4f7a9a4f4744a52f4856de82df"
Expand All @@ -718,6 +772,12 @@ git-tree-sha1 = "465a70f0fc7d443a00dcdc3267a497397b8a3899"
uuid = "d0879d2d-cac2-40c8-9cee-1863dc0c7391"
version = "0.1.2"

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git-tree-sha1 = "9cc5acd6b76174da7503d1de3a6f8cf639b6e5cb"
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version = "1.29.0"

[[deps.MbedTLS]]
deps = ["Dates", "MbedTLS_jll", "MozillaCACerts_jll", "NetworkOptions", "Random", "Sockets"]
git-tree-sha1 = "c067a280ddc25f196b5e7df3877c6b226d390aaf"
Expand Down Expand Up @@ -747,6 +807,12 @@ uuid = "a63ad114-7e13-5084-954f-fe012c677804"
uuid = "14a3606d-f60d-562e-9121-12d972cd8159"
version = "2023.1.10"

[[deps.MutableArithmetics]]
deps = ["LinearAlgebra", "SparseArrays", "Test"]
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uuid = "d8a4904e-b15c-11e9-3269-09a3773c0cb0"
version = "1.4.4"

[[deps.NaNMath]]
deps = ["OpenLibm_jll"]
git-tree-sha1 = "0877504529a3e5c3343c6f8b4c0381e57e4387e4"
Expand Down Expand Up @@ -786,6 +852,12 @@ git-tree-sha1 = "887579a3eb005446d514ab7aeac5d1d027658b8f"
uuid = "e7412a2a-1a6e-54c0-be00-318e2571c051"
version = "1.3.5+1"

[[deps.OpenBLAS32_jll]]
deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl"]
git-tree-sha1 = "6065c4cff8fee6c6770b277af45d5082baacdba1"
uuid = "656ef2d0-ae68-5445-9ca0-591084a874a2"
version = "0.3.24+0"

[[deps.OpenBLAS_jll]]
deps = ["Artifacts", "CompilerSupportLibraries_jll", "Libdl"]
uuid = "4536629a-c528-5b80-bd46-f80d51c5b363"
Expand Down Expand Up @@ -1032,6 +1104,12 @@ git-tree-sha1 = "3aac6d68c5e57449f5b9b865c9ba50ac2970c4cf"
uuid = "476501e8-09a2-5ece-8869-fb82de89a1fa"
version = "0.6.42"

[[deps.SPRAL_jll]]
deps = ["Artifacts", "CompilerSupportLibraries_jll", "Hwloc_jll", "JLLWrappers", "Libdl", "METIS_jll", "libblastrampoline_jll"]
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uuid = "319450e9-13b8-58e8-aa9f-8fd1420848ab"
version = "2024.1.18+0"

[[deps.Scratch]]
deps = ["Dates"]
git-tree-sha1 = "3bac05bc7e74a75fd9cba4295cde4045d9fe2386"
Expand Down
6 changes: 5 additions & 1 deletion Julia/Project.toml
Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,8 @@ Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
JuMP = "4076af6c-e467-56ae-b986-b466b2749572"
LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
Expand All @@ -26,10 +28,12 @@ Distributions = "0.25.107"
Documenter = "1.4.1"
FiniteDiff = "2.23.0"
ForwardDiff = "0.10.36"
Ipopt = "1.6.2"
JuMP = "1.21.1"
Plots = "1.40.2"
RobotDynamics = "=0.4.7"
SpecialFunctions = "2.3.1"
StaticArrays = "1.9.3"
Statistics = "1.10.0"
StatsBase = "0.34.3"
TrajectoryOptimization = "=0.7.0"
TrajectoryOptimization = "=0.7.0"
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