Documentation: GPU for the indirect method (flows and shooting)

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Dal 11/10/2026.

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Descrizione

Summary

The documentation covers the GPU for the direct method only. The page GPU (docs/src/solve/gpu.md) walks through solve(ocp; modeler=:exa_gpu, …): prerequisites, a worked problem, descriptive and explicit modes, which combinations work, performance notes.

The indirect method has nothing equivalent. The Flows overview has a short section "CPU and GPU" (docs/src/flows/overview.md) that says Flow(ocp, law; method=:gpu) exists, that the initial state and costate must be CuArrays, and sends the reader to the GPU flows page of CTFlows. A reader who wants to shoot on the GPU has no worked example in this documentation.

Proposal

Add a page (or a section next to the direct one) on the GPU for flows and shooting, built like the direct page:

  • prerequisites (CUDA, Mooncake, the integrator package) and the method=:gpu keyword of the constructor (not of the call);
  • one worked problem: build Flow(ocp, law; method=:gpu), give CuArray initial state and costate, integrate, and check the result against the CPU flow;
  • a shooting function evaluated on the GPU, with the solver of the nonlinear system on the CPU or GPU (to be checked: what CTFlows supports and what is useful in practice);
  • what does not work (CPU arrays with method=:gpu, Mooncake not loaded) and the error the user gets;
  • performance notes: when it pays off (large dimension or many trajectories), consistent with control-toolbox/CTFlows.jl#448 (Mooncake on CPU) and the ensemble flows of control-toolbox/CTFlows.jl#341.

Constraints

  • The GPU blocks cannot be executed by the usual docs build: the direct page runs on the occidata runner (see #885 and #946). The new page should follow the same mechanism, with the output of the last run shown and checked by @asserts on the runner.
  • Depends on the CTFlows side: control-toolbox/CTFlows.jl#436 (obscure MethodErrors of method=:gpu) is closed, so the errors can be quoted once released; the "CPU and GPU" section of the Flows overview, which says the error "does not name the cause yet", must then be updated.

Part of the final read tracked in #968.

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