up direct_transcription

Author: ocots

docs/extras/disc.jl

@@ -90,10 +90,10 @@ for adnlp_backend in backends
     println("Testing backend: ", adnlp_backend)
 
     # Discretize the problem with a large grid size and Gauss-Legendre method
-    bt = @btimed direct_transcription(
+    docp = @btimed direct_transcription(
         $ocp; disc_method=:euler, grid_size=1000, adnlp_backend=($adnlp_backend)
     )
-    docp, nlp = bt.value
+    nlp = model(docp)
     prepa_time = bt.time
 
     # Get the number of non-zero elements

docs/src/tutorial-discretisation.md

@@ -147,12 +147,12 @@ backends = [:optimized, :manual]
 for adnlp_backend in backends
 
     # Discretize the problem with a large grid size and Gauss-Legendre method
-    bt = @btimed direct_transcription($ocp; 
+    docp = @btimed direct_transcription($ocp; 
         disc_method=:gauss_legendre_3, 
         grid_size=1000, 
         adnlp_backend=$adnlp_backend,
     )
-    docp, nlp = bt.value
+    nlp = model(docp)
     prepa_time = bt.time
 
     # Get the number of non-zero elements

docs/src/tutorial-nlp.md

@@ -45,7 +45,8 @@ nothing # hide
 We discretize the problem.
 
 ```@example main-nlp
-docp, nlp = direct_transcription(ocp)
+docp = direct_transcription(ocp)
+nlp = model(docp)
 nothing # hide
 ```
 
@@ -83,7 +84,8 @@ nlp_sol = madnlp(nlp)
 An initial guess, including warm start, can be passed to [`direct_transcription`](https://control-toolbox.org/OptimalControl.jl/stable/dev-ctdirect.html#CTDirect.direct_transcription-Tuple{Model,%20Vararg{Any}}) the same way as for `solve`.
 
 ```@example main-nlp
-docp, nlp = direct_transcription(ocp; init=sol)
+docp = direct_transcription(ocp; init=sol)
+nlp = model(nlp)
 nothing # hide
 ```