Changes
Major
- removed support for Python 3.8
- implemented the `ScenarioBasedMpc` wrapper to create MPC controllers based on the Scenario Approach
- added extra args in `Mpc` and `ScenarioBasedMpc` to allow to include or exclude lower and upper bounds on initial and terminal state upon creation
- removed `quad_form` in favour of `casadi.bilin` (which is built in in the library)
- added support for all solvers (previously, only IPOPT, sqpmethod, and a small other few could be instantiated)
Minor
- updates to config files
- updated plotting utilities
- moved from `full` to `toarray`, which appears to be faster
- moved to relative imports