Casadi

Changes


Major
- method `licq` in `NlpSensitivity` wrapper now includes also the jacobians of the upper and lower bound inequalities
- added methods in `Nlp` to remove bounds on variables and constraints AFTER their creation (still, it is recommended to avoid doing so it not necessary)
- in `Mpc`, added possibility to automatically remove upper and lower bounds on initial states to avoid overconstraining (disabled by default)
- `Solution` object now hosts also the values of the dual variables at the optimal point

Minor
- improved cache handling
- removed usage of slots due to bugs in pickling and deepcopying
- removed some unused methods

Changes

- improved lower and upper bound broadcasting during variable creation
- removed `util/random.py` in favour of `np.random.default_rng`

Changes

- corrected typo in type-hint for solver
- allowing instantiation of more casadi solvers: `ipopt`, `sqpmethod`, `qrqp`, `osqp` are available

Changes

Major
- solved compatibility issues with breaking changes introduced with CasADi 3.6.0

Minor
- added some useful IPOPT options in the examples

Changes

Major
- remove ability to change the order of primal-dual variables: now it is fixed to `x`, `lam_g`, `lam_h`, `lam_lbx`, `lam_ubx` (that is, in order, the primal variables, equality constraint multipliers, inequality constraint multipliers, and lower- and upper-bound multipiers)
- introduced new example on sensitivity computation
- lower- and upper-bounds on ``x`, i.e., `csnlp.Nlp.lbx` and `csnlp.Nlp.ubx`, are now masked arrays: this allows to filter out redundant constraints (constraints which will never be active, with either `+inf` or `-inf`)
- made all dual variables be vectors instead of having the same shape as the original constraint

Minor
- better type hinting, docstrings and testing
- fixed error due to `cs.solve` being called with non-square matrix in `wrapper.NlpSensitivity`
- fixed error on valid bound checking when creating new nlp's variables
- added method `csnlp.core.data.find_index_in_vector`

Changes

Major
- `multistart.StackedMultistartNlp`
* fixed bug where slack variables for soft constraints were created twice
* fixed bug where parameters and variables with the same name would overwrite each other
* fixed bug where the values of a multistart solution were still symbolic (instead of numerical)
- improved performance of multistart nlps: solutions are now processed when all are fetched; otherwise, only the best is processed
- added the possibility to pass to `Nlp.solve` and `MultistartNlp.solve_multi` incomplete initial conditions, i.e., where not all the variables of the problem are supplied with a starting condition. By default, missing variables are initialized to zero.
- added utilities for easy retrival of solver's docs under `util.docs.py` (inspired by [mpctools](https://bitbucket.org/rawlings-group/mpc-tools-casadi/src/master/mpctools/util.py))

Minor
- better type hinting and docstrings
- improvements to `nlp.debug`
- changes to default behaviour of `util.plot.spy`
- improved the use of `casadi.vertcat`, `vcat` and `veccat`