Develop

.github/workflows/CI.yml

@@ -10,3 +10,8 @@ on:
 jobs:
   call:
     uses: control-toolbox/CTActions/.github/workflows/ci.yml@main
+    with:
+      runs_on: '["ubuntu-latest","macos-latest"]'
+      use_ct_registry: true
+    secrets:
+      SSH_KEY: ${{ secrets.SSH_KEY }}

.github/workflows/Coverage.yml

@@ -8,5 +8,8 @@ on:
 jobs:
   call:
     uses: control-toolbox/CTActions/.github/workflows/coverage.yml@main
+    with:
+      use_ct_registry: true
     secrets:
       codecov-secret: ${{ secrets.CODECOV_TOKEN }}
+      SSH_KEY: ${{ secrets.SSH_KEY }}

.github/workflows/Documentation.yml

@@ -10,3 +10,7 @@ on:
 jobs:
   call:
     uses: control-toolbox/CTActions/.github/workflows/documentation.yml@main
+    with:
+      use_ct_registry: true
+    secrets:
+      SSH_KEY: ${{ secrets.SSH_KEY }}

.gitignore

@@ -31,7 +31,9 @@ test/solution.jld2
 test/solution.json
 
 #
-reports/
 profiling/
 tmp/
-.agent/
+.agent/
+.windsurf/
+.reports/
+.extras/

BREAKING.md

@@ -0,0 +1,246 @@
+# Breaking Changes
+
+This document describes breaking changes in CTModels releases and how to migrate your code.
+
+## [0.9.1] - 2026-03-02
+
+**No breaking changes** - This release only removes experimental test files from `test/extras/` directory. All public APIs remain unchanged.
+
+---
+
+## [0.9.0-beta] - 2026-02-12
+
+### Module and Type Renaming
+
+#### Overview
+The InitialGuess module has been renamed to `Init` for better API ergonomics and more concise naming. This is a **breaking change** that requires users to update their imports and type references.
+
+#### What Changed
+
+##### Module Name
+```julia
+# Before (0.8.2-beta and earlier)
+using CTModels.InitialGuess
+
+# After (0.9.0-beta)
+using CTModels.Init
+```
+
+##### Type Names
+```julia
+# Before
+pre = CTModels.OptimalControlPreInit(...)
+abstract_type = CTModels.AbstractOptimalControlPreInit
+
+# After  
+pre = CTModels.PreInitialGuess(...)
+abstract_type = CTModels.AbstractPreInitialGuess
+```
+
+#### Migration Required
+
+**User code changes required** - update your imports and type references:
+
+```julia
+# Before
+using CTModels.InitialGuess
+pre_init = CTModels.OptimalControlPreInit(state=0.1, control=0.2)
+
+# After
+using CTModels.Init
+pre_init = CTModels.PreInitialGuess(state=0.1, control=0.2)
+```
+
+#### Benefits
+
+- **More Concise API**: `CTModels.Init` vs `CTModels.InitialGuess`
+- **Cleaner Type Names**: `PreInitialGuess` vs `OptimalControlPreInit`
+- **Better Developer Experience**: Shorter, more intuitive names
+- **Maintained Functionality**: Zero behavioral changes, only naming improvements
+
+#### Compatibility
+
+- All public functions remain unchanged
+- Only module and type names have been updated
+- All tests pass (3146/3146)
+- Ready for production use
+
+---
+
+## [0.8.2-beta] - 2026-02-12
+
+### InitialGuess Validation Architecture Change
+
+#### Overview
+Refactored the InitialGuess validation system to follow Single Responsibility Principle. This is an **internal architectural change** that does not affect the public API behavior but improves code organization.
+
+#### What Changed
+
+##### Construction vs Validation Separation
+```julia
+# Before (0.8.1-beta and earlier)
+# initial_guess() validated internally, build_initial_guess() had mixed responsibilities
+
+# After (0.8.2-beta)
+# initial_guess() is pure construction
+# build_initial_guess() centralises validation for ALL input types
+```
+
+##### Validation Coverage Fix
+```julia
+# Before: This case was NOT validated (potential runtime error)
+bad_init = CTModels.InitialGuess(wrong_dimensions...)
+validated = CTModels.build_initial_guess(ocp, bad_init)  # No validation!
+
+# After: All branches are validated
+validated = CTModels.build_initial_guess(ocp, bad_init)  # Throws IncorrectArgument
+```
+
+#### Migration Required
+
+**No user code changes required** - this is an internal refactoring that:
+- Maintains all existing public APIs
+- Fixes a validation gap for direct `AbstractInitialGuess` inputs
+- Improves error detection and code reliability
+- All tests pass (147/147)
+
+#### Benefits
+
+- **Better Error Detection**: Invalid initial guesses are caught consistently
+- **Cleaner Architecture**: Clear separation of construction and validation concerns
+- **Improved Reliability**: Eliminates potential runtime errors from unchecked inputs
+
+---
+
+## [0.8.0-beta] - 2026-02-04
+
+### Module Migration to CTSolvers
+
+#### Overview
+Major refactoring where several modules have been moved from CTModels to the new CTSolvers package.
+
+#### Moved Modules
+The following modules are no longer part of CTModels and must be imported from CTSolvers:
+
+- **Options** → `using CTSolvers.Options`
+- **Strategies** → `using CTSolvers.Strategies` 
+- **Orchestration** → `using CTSolvers.Orchestration`
+- **Optimization** → `using CTSolvers.Optimization`
+- **Modelers** → `using CTSolvers.Modelers`
+- **DOCP** → `using CTSolvers.DOCP`
+
+#### Migration Guide
+
+##### Before (CTModels < 0.8.0)
+```julia
+using CTModels
+using CTModels.Options
+using CTModels.Strategies
+using CTModels.Optimization
+```
+
+##### After (CTModels ≥ 0.8.0)
+```julia
+using CTModels
+using CTSolvers.Options
+using CTSolvers.Strategies  
+using CTSolvers.Optimization
+```
+
+#### Specific Changes
+
+##### Option Types
+```julia
+# Before
+using CTModels.Options
+opt = CTModels.OptionValue(100, :user)
+
+# After  
+using CTSolvers.Options
+opt = CTSolvers.OptionValue(100, :user)
+```
+
+##### Strategy Types
+```julia
+# Before
+using CTModels.Strategies
+strategy = CTModels.DirectStrategy()
+
+# After
+using CTSolvers.Strategies
+strategy = CTSolvers.DirectStrategy()
+```
+
+##### Modelers
+```julia
+# Before
+using CTModels.Modelers
+modeler = CTModels.ADNLPModeler()
+
+# After
+using CTSolvers.Modelers
+modeler = CTSolvers.ADNLPModeler()
+```
+
+##### DOCP Types
+```julia
+# Before
+using CTModels.DOCP
+docp = CTModels.DiscretizedOptimalControlProblem(...)
+
+# After
+using CTSolvers.DOCP
+docp = CTSolvers.DiscretizedOptimalControlProblem(...)
+)
+```
+
+#### Package Dependencies
+
+If your package depends on CTModels and uses any of the moved modules, update your dependencies:
+
+```toml
+# Project.toml
+[deps]
+CTModels = "34c4fa32-2049-4079-8329-de33c2a22e2d"
+CTSolvers = "xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx"  # Add CTSolvers
+
+[compat]
+CTModels = "0.8"
+CTSolvers = "0.1"  # Or appropriate version
+```
+
+#### What Remains in CTModels
+
+The following modules remain in CTModels and are unchanged:
+
+- **OCP**: Core optimal control problem types and building
+- **Utils**: Utility functions and helpers  
+- **Display**: Text display and printing
+- **Serialization**: Export/import functionality
+- **InitialGuess**: Initial guess management
+- **Extensions**: Plots, JSON, JLD2 extensions
+
+#### Compatibility
+
+- CTModels 0.8.0-beta maintains compatibility with CTBase 0.18
+- All remaining CTModels APIs are unchanged
+- Extensions (Plots, JSON, JLD2) work as before
+
+#### Action Required
+
+1. **Update imports**: Replace CTModels module imports with CTSolvers equivalents
+2. **Update dependencies**: Add CTSolvers to your package dependencies
+3. **Update code**: Change module prefixes from `CTModels.` to `CTSolvers.` where needed
+4. **Test**: Verify your code works with the new module structure
+
+#### Help and Support
+
+- Check the [CTSolvers documentation](https://github.com/control-toolbox/CTSolvers.jl) for detailed API
+- Open an issue if you encounter migration problems
+- See examples in the CTSolvers repository for usage patterns
+
+---
+
+## Older Breaking Changes
+
+See [CHANGELOG.md](CHANGELOG.md) for historical breaking changes.