From 81faa1077ff4f60612f2454785aa8027480c45b1 Mon Sep 17 00:00:00 2001 From: franckgaga Date: Wed, 8 Jul 2026 15:17:32 -0400 Subject: [PATCH] changed: bump `compat` of `FastGaussQuadrature` Also update to the new API with generic number types --- Project.toml | 2 +- src/controller/transcription.jl | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Project.toml b/Project.toml index 1c4701456..35fe0bf74 100644 --- a/Project.toml +++ b/Project.toml @@ -35,7 +35,7 @@ ControlSystemsBase = "1.18.2" DAQP = "0.6, 0.7.1, 0.8" DifferentiationInterface = "0.7.11" Documenter = "1" -FastGaussQuadrature = "1.1.0" +FastGaussQuadrature = "1.2" FiniteDiff = "2" ForwardDiff = "0.10, 1" Ipopt = "1" diff --git a/src/controller/transcription.jl b/src/controller/transcription.jl index 58aa70ac5..53266317f 100644 --- a/src/controller/transcription.jl +++ b/src/controller/transcription.jl @@ -190,11 +190,11 @@ struct OrthogonalCollocation <: CollocationMethod throw(ArgumentError("h argument must be 0 or 1 for OrthogonalCollocation.")) end if roots==:gaussradau - x, _ = FastGaussQuadrature.gaussradau(no, COLLOCATION_NODE_TYPE) + x, _ = FastGaussQuadrature.gaussradau(COLLOCATION_NODE_TYPE, no) # we reverse the nodes to include the τ=1.0 node: τ = (reverse(-x) .+ 1) ./ 2 elseif roots==:gausslegendre - x, _ = FastGaussQuadrature.gausslegendre(no) + x, _ = FastGaussQuadrature.gausslegendre(COLLOCATION_NODE_TYPE, no) # converting [-1, 1] to [0, 1] (see # https://en.wikipedia.org/wiki/Gaussian_quadrature#Change_of_interval): τ = (x .+ 1) ./ 2