Changed: major NLP refactoring for flexibility and significantly improve performance#171

Merged

franckgaga merged 14 commits intomainfrom

Mar 6, 2025

Commits on Mar 4, 2025

Commits on Mar 5, 2025

added: `NonLinMPC` refactor for custom objective gradient
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added: similar refactoring for nonlinear equality constraints
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added: similar refactor for nonlinear inequality constraints
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Commits on Mar 6, 2025

debug: handle univariate syntax special case
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changed: remove the impossible univariate syntax for equality constraints
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test: improve coverage of `NonLinMPC` with `MultipleShooting`
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added: huge performance improvement by caching Jacobians of the constraints
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added: same improvements in `MovingHorizonEstimator` with `NonLinModel`
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debug: MHE now works
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debug: actually use the new AD functions in MHE
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debug: call `set_nonlincon!` at the end of MHE construction
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test: new `MovingHorizonEstimator` test to improve coverage of the univariate case
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