Casadi

Changes

Major
- added `np_random` to `csnlp.util.random`
- implemented random and structured generators of initial start points for NLP multistarting, e.g., `csnpl.multistart.RandomStartPoints` and `StructuredStartPoints`

Minor
- updated readme
- removed usage of `dataclass` in favor of `NamedTupe` in `csnlp.core.debug.py`
- corrected some comments in examples

Changes

Major
- refactored existing class and added a new one for multistart NLPs, i.e., `csnlp.StackedMultistartNlp` and `csnlp.ParallelMultistartNlp`. The former solves the original NLP by stacking copies of it into a single, larger optimization problem; the latter uses `joblib` to parallelize the solver
- better symbolic computations in `csnlp.wrappers.NlpSensitivity`

Minor
- improved representation and ordering of `csnlp.Solution` class
- improved tests

Changes

- in MPC, added `input_spacing` (allows to reduce free inputs by keeping them constant)
- added several compression methods to `util.io.save` and `load`
- added `util.math.repeat`

Changes

Major
- added new properties to `Mpc` and `Solution`
- improved `util.math.prod`
- simplified `util.io.SupportsDeepcopyAndPickle`

Minror
- remove functions with dependency from `scipy`
- better type hinting
- added slots to most classes

Changes

Major

- removed `Mpc`'s `dynamics `property setter; turned it into method `set_dynamics`
- implemented sensitivity for a subset of parameters
- implemented the possibility of instantiating a qrqp solver instead of ipopt
- fixed compatibility for `casadi==3.5.6pre2`

Minor

- refactored `subsevalf` for numpy arrays of symbolic expressions
- improved pickle- and copy-ability of classes with slots
- removed redundant fields in `objective.py`
- made `array2cs` faster
- better type hinting, docs, testing and examples

Changes

Major

- removed `dict2struct` and its use: now most of the properties return a reference to internal dictionaries of variables, parameters, constraints, etc.
- refactored internal files: the same functions can still be access, but their source files have been rearranged
- `MultistartNlp.solve_multi` and `wrappers.NlpScaling.solve_multi` now accept single dictionaries of parameters and variables for multiple scenarions
- `wrappers.NlpScaling` now stores both unscaled and scaled variables and parameters to allow easier (un)scaling of expressions

Minor

- remove `np_random` and `jaggedstack` from utilities (were unused)
- changed initial state names in `wrappers.Mpc` from `{statename}` to `{statename}_0`
- changed argument name `dim` to `size` in some methods in `wrappers.Mpc`
- `csnlp.core.scaling.Scaler` now inherits `dict` instead of `UserDict` for better type hints
- better docstrings, type hints, examples and tests