Adapt to CTModels v0.7.x and integrate CTSolvers

[ocots]

Summary

This PR adapts OptimalControl to work with CTModels v0.7.x and integrates the new CTSolvers package as part of the breaking change migration.

Related to: control-toolbox/CTModels.jl#247
Closes: #[ISSUE_NUMBER] ← Replace with the issue number created above

Changes

🎯 Major Version Bump: v1.1.8-beta → v2.0.0-beta

This is a major version bump reflecting significant changes:

1. Ecosystem Restructuring

   • Integration of new CTSolvers package
   • New solver architecture
   • Separation of concerns (solvers moved to dedicated package)

2. Breaking Dependency Updates

   • CTModels v0.7.x (breaking changes)
   • CTDirect v0.18.x (major version bump)
   • New dependency: CTSolvers v0.2.x

3. API Changes

   • Adaptation to new CTModels API
   • Integration of CTSolvers functionality
   • Potential breaking changes in user-facing API

Code Changes

• Adapted to CTModels v0.7.x API
• Integrated CTSolvers as new dependency
• Updated code to use CTSolvers functionality
• Updated Project.toml version and compat

Project.toml Changes

- version = "1.1.8-beta"
+ version = "2.0.0-beta"

 [compat]
- CTDirect = "0.17"
+ CTDirect = "0.17, 0.18"
  CTFlows = "0.8"
- CTModels = "0.6"
+ CTModels = "0.6, 0.7"
  CTParser = "0.8"
+ CTSolvers = "0.2"
  CTBase = "0.17"

Testing

All tests pass with:

• CTModels v0.7.0-beta ✅
• CTDirect v0.18.0-beta ✅
• CTSolvers v0.2.0-beta ✅

Migration Progress

Phase 1: CTFlows v0.8.11-beta ✅
Phase 2: CTModels v0.7.0-beta ✅
Phase 3: CTDirect v0.18.0-beta ✅
Phase 3.5: CTSolvers v0.2.0-beta ✅
Phase 4: OptimalControl v2.0.0-beta 🔄 (this PR)
Phase 5: Stabilization ⏳

Final Dependency Graph

OptimalControl v2.0.0-beta
  ├── CTDirect v0.18.0-beta
  │   └── CTModels v0.7.0-beta
  │   └── CTBase v0.17.4
  ├── CTFlows v0.8.11-beta
  │   └── CTModels v0.7.0-beta
  │   └── CTBase v0.17.4
  ├── CTSolvers v0.2.0-beta (NEW)
  │   └── CTModels v0.7.0-beta
  │   └── CTBase v0.17.4
  ├── CTModels v0.7.0-beta
  │   └── CTBase v0.17.4
  ├── CTParser v0.8.2-beta
  │   └── CTBase v0.17.4
  └── CTBase v0.17.4

Impact on Users

Breaking Changes

Users upgrading from OptimalControl v1.x to v2.0.0 will need to:

1. Update their code for CTModels v0.7.x API changes
2. Adapt to new CTSolvers integration (if using solver features)
3. Review any API changes in OptimalControl itself

Benefits

• Access to new solver functionality via CTSolvers
• Improved architecture and separation of concerns
• Foundation for future enhancements
• Better maintainability

Checklist

• Code adapted to CTModels v0.7.x
• CTSolvers integrated
• All tests pass
• Project.toml updated
• Documentation updated (if needed)
• CHANGELOG.md updated

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 67.74%. Comparing base (d3c1cbb) to head (d22ca98).

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #693   +/-   ##
=======================================
  Coverage   67.74%   67.74%           
=======================================
  Files           2        2           
  Lines          31       31           
=======================================
  Hits           21       21           
  Misses         10       10           

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[github-actions]

Breakage test results
Date: 2026-01-21 12:04:32

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