Direct shooting#561

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PierreMartinon wants to merge 21 commits intodevelopfrom

direct_shooting

Commits on Feb 23, 2026

Commits on Feb 24, 2026

use DOCP substructs as arguments for scheme constructors; try to reuse same scheme structs for both collocation and direct shooting discretizers
PierreMartinon
committed

Commits on Feb 25, 2026

Commits on Feb 26, 2026

put back compat for madnlpgpu 0.7 in addition to new 0.8 (dependency problem)
PierreMartinon
committed
direct shooting (midpoint) on truck trailer problem (7state, 2control, free tf, bolza, path constraints): first tests ok with 1 control step ie similar to collocation, and with 50 steps / 20 contro…
PierreMartinon
committed

Commits on Feb 27, 2026

split collocation / direct shooting case for midpoint
PierreMartinon
committed