casadi 3.6.5__cp37-none-win_amd64.whl → 3.6.6__cp37-none-win_amd64.whl

casadi/casadi.py

@@ -111,6 +111,7 @@ SOLVER_RET_UNKNOWN = _casadi.SOLVER_RET_UNKNOWN
 SOLVER_RET_LIMITED = _casadi.SOLVER_RET_LIMITED
 SOLVER_RET_NAN = _casadi.SOLVER_RET_NAN
 SOLVER_RET_INFEASIBLE = _casadi.SOLVER_RET_INFEASIBLE
+SOLVER_RET_EXCEPTION = _casadi.SOLVER_RET_EXCEPTION
 
 
 import contextlib
@@ -14624,12 +14625,14 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         return _casadi.MX_primitives(self, *args)
 
 
-    def split_primitives(self, *args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >":
+    def split_primitives(self, *args) -> "std::vector< casadi::DM,std::allocator< casadi::DM > >":
         """
           [INTERNAL] 
 
         ::
 
+          split_primitives(self, DM x) -> [DM]
+          split_primitives(self, SX x) -> [SX]
           split_primitives(self, MX x) -> [MX]
 
         Split up an expression along symbolic primitives.
@@ -14637,24 +14640,98 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_qq
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L312
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L315
+
+        Implementation: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L929-L935
+
+
+
+        .......
+
+        ::
+
+          split_primitives(self, DM x)
+
+
+
+        [INTERNAL] 
+        Split up an expression along symbolic primitives.
+
+        Extra doc: https://github.com/casadi/casadi/wiki/L_qq
+
+        Doc source: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L315
+
+        Implementation: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L929-L935
+
+
+
+        .............
+
+
+        .......
+
+        ::
+
+          split_primitives(self, SX x)
+
+
+
+        [INTERNAL] 
+        Split up an expression along symbolic primitives.
+
+        Extra doc: https://github.com/casadi/casadi/wiki/L_qq
+
+        Doc source: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L314
+
+        Implementation: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L921-L927
+
+
+
+        .............
+
+
+        .......
+
+        ::
+
+          split_primitives(self, MX x)
+
+
+
+        [INTERNAL] 
+        Split up an expression along symbolic primitives.
+
+        Extra doc: https://github.com/casadi/casadi/wiki/L_qq
+
+        Doc source: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L313
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L913-L919
 
 
 
+        .............
+
+
 
         """
         return _casadi.MX_split_primitives(self, *args)
 
 
-    def join_primitives(self, *args) -> "casadi::MX":
+    def join_primitives(self, *args) -> "casadi::DM":
         """
           [INTERNAL] 
 
         ::
 
+          join_primitives(self, [DM] v) -> DM
+          join_primitives(self, [SX] v) -> SX
           join_primitives(self, [MX] v) -> MX
 
         Join an expression along symbolic primitives.
@@ -14662,11 +14739,83 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_qr
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L317
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L324
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L921-L927
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L953-L959
+
+
 
+        .......
+
+        ::
+
+          join_primitives(self, [DM] v)
+
+
+
+        [INTERNAL] 
+        Join an expression along symbolic primitives.
+
+        Extra doc: https://github.com/casadi/casadi/wiki/L_qr
+
+        Doc source: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L324
+
+        Implementation: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L953-L959
+
+
+
+        .............
+
+
+        .......
+
+        ::
+
+          join_primitives(self, [SX] v)
+
+
+
+        [INTERNAL] 
+        Join an expression along symbolic primitives.
+
+        Extra doc: https://github.com/casadi/casadi/wiki/L_qr
+
+        Doc source: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L323
+
+        Implementation: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L945-L951
+
+
+
+        .............
+
+
+        .......
+
+        ::
+
+          join_primitives(self, [MX] v)
+
+
+
+        [INTERNAL] 
+        Join an expression along symbolic primitives.
+
+        Extra doc: https://github.com/casadi/casadi/wiki/L_qr
+
+        Doc source: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L322
+
+        Implementation: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L937-L943
+
+
+
+        .............
 
 
 
@@ -14715,10 +14864,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_qu
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L339
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L347
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L937-L939
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L969-L971
 
 
 
@@ -14740,10 +14889,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_qv
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L344
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L352
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L941-L947
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L973-L979
 
 
 
@@ -14765,10 +14914,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_qw
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L349
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L357
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L949-L951
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L981-L983
 
 
 
@@ -14790,10 +14939,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_qx
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L354
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L362
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L953-L955
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L985-L987
 
 
 
@@ -14815,10 +14964,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_qy
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L359
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L367
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L957-L959
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L989-L991
 
 
 
@@ -14838,10 +14987,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Checks if expression does not contain NaN or Inf.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L362
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L370
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L961-L967
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L993-L999
 
 
 
@@ -14861,7 +15010,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Is binary operation.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L365
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L373
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L786-L788
@@ -14884,7 +15033,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Is unary operation.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L368
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L376
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L790-L792
@@ -14907,7 +15056,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get operation type.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L371
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L379
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L794-L796
@@ -14930,7 +15079,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Obtain information about node
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L374
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L382
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L798-L800
@@ -14955,7 +15104,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_qz
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L379
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L387
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L802-L804
@@ -15023,7 +15172,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r1
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L398
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L406
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L507-L532
@@ -15049,7 +15198,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r1
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L399
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L407
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L534-L536
@@ -15077,7 +15226,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r2
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L408
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L416
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L554-L556
@@ -15098,7 +15247,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r2
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L407
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L415
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L550-L552
@@ -15122,7 +15271,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r2
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L408
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L416
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L554-L556
@@ -15146,7 +15295,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r2
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L406
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L414
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L558-L560
@@ -15177,7 +15326,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r3
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L417
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L425
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L566-L568
@@ -15198,7 +15347,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r3
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L416
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L424
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L562-L564
@@ -15222,7 +15371,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r3
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L417
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L425
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L566-L568
@@ -15246,7 +15395,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r3
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L415
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L423
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L570-L572
@@ -15302,7 +15451,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, two arguments
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L460
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L468
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L218-L221
@@ -15335,10 +15484,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, single argument
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L436
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L444
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L436-L438
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L444-L446
 
 
 
@@ -15357,7 +15506,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, single argument
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L434
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L442
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L194-L200
@@ -15379,7 +15528,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, single argument
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L432
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L440
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L171-L174
@@ -15401,7 +15550,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, single argument
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L435
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L443
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L202-L206
@@ -15423,10 +15572,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, two arguments
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L454
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L462
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L454-L457
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L462-L465
 
 
 
@@ -15445,10 +15594,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, two arguments
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L449
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L457
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L449-L451
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L457-L459
 
 
 
@@ -15467,10 +15616,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, two arguments
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L445
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L453
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L445-L447
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L453-L455
 
 
 
@@ -15489,7 +15638,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, two arguments
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L443
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L451
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L141-L144
@@ -15511,7 +15660,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, two arguments
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L459
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L467
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L208-L211
@@ -15533,7 +15682,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, two arguments
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L458
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L466
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L213-L216
@@ -15555,7 +15704,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a submatrix, two arguments
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L460
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L468
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L218-L221
@@ -15611,7 +15760,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Set a submatrix, single argument
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L467
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L475
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L371-L382
@@ -15633,7 +15782,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Set a submatrix, single argument
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L465
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L473
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L298-L301
@@ -15655,7 +15804,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Set a submatrix, two arguments
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L472
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L480
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L223-L226
@@ -15687,7 +15836,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a set of nonzeros
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L488
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L496
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L427-L430
@@ -15717,10 +15866,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a set of nonzeros
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L483
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L491
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L483-L485
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L491-L493
 
 
 
@@ -15739,7 +15888,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a set of nonzeros
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L480
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L488
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L384-L387
@@ -15761,7 +15910,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a set of nonzeros
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L482
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L490
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L422-L425
@@ -15783,7 +15932,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a set of nonzeros
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L487
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L495
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L432-L435
@@ -15805,7 +15954,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a set of nonzeros
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L486
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L494
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L437-L440
@@ -15827,7 +15976,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Get a set of nonzeros
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L488
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L496
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L427-L430
@@ -15856,10 +16005,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Set a set of nonzeros
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L496
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L504
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L496-L496
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L504-L504
 
 
 
@@ -15886,10 +16035,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Set a set of nonzeros
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L496
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L504
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L496-L496
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L504-L504
 
 
 
@@ -15908,7 +16057,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Set a set of nonzeros
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L493
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L501
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L442-L445
@@ -15930,7 +16079,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Set a set of nonzeros
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L495
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L503
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L503-L505
@@ -15970,7 +16119,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r5
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L520
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L528
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L646-L652
@@ -16002,7 +16151,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r5
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L520
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L528
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L646-L652
@@ -16037,7 +16186,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_r5
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L514
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L522
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L638-L644
@@ -16112,7 +16261,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_rg
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L851
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L861
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L699-L704
@@ -16141,7 +16290,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_rh
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L858
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L868
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L706-L708
@@ -16166,7 +16315,7 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_ri
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L866
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L876
 
         Implementation: 
         https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L829-L831
@@ -16266,10 +16415,10 @@ class MX(GenericExpressionCommon, PrintableCommon, GenMX, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_rn
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L897
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L907
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L2288-L2294
+        https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L2320-L2326
 
 
 
@@ -16624,7 +16773,7 @@ def MX_binary(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r1
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L398
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L406
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L507-L532
@@ -16648,7 +16797,7 @@ def MX_unary(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r1
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L399
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L407
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L534-L536
@@ -16674,7 +16823,7 @@ def MX_inf(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r2
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L408
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L416
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L554-L556
@@ -16695,7 +16844,7 @@ def MX_inf(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r2
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L407
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L415
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L550-L552
@@ -16719,7 +16868,7 @@ def MX_inf(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r2
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L408
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L416
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L554-L556
@@ -16743,7 +16892,7 @@ def MX_inf(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r2
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L406
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L414
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L558-L560
@@ -16772,7 +16921,7 @@ def MX_nan(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r3
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L417
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L425
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L566-L568
@@ -16793,7 +16942,7 @@ def MX_nan(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r3
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L416
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L424
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L562-L564
@@ -16817,7 +16966,7 @@ def MX_nan(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r3
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L417
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L425
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L566-L568
@@ -16841,7 +16990,7 @@ def MX_nan(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r3
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L415
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L423
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L570-L572
@@ -16893,7 +17042,7 @@ def MX_einstein(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r5
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L520
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L528
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L646-L652
@@ -16925,7 +17074,7 @@ def MX_einstein(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r5
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L520
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L528
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L646-L652
@@ -16960,7 +17109,7 @@ def MX_einstein(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r5
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L514
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L522
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L638-L644
@@ -24117,7 +24266,7 @@ def external(*args) -> "casadi::Function":
     https://github.com/casadi/casadi/blob/develop/casadi/core/external.hpp#L42
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/external.cpp#L42-L45
+    https://github.com/casadi/casadi/blob/develop/casadi/core/external.cpp#L42-L48
 
 
 
@@ -24147,10 +24296,10 @@ def external(*args) -> "casadi::Function":
     Extra doc: https://github.com/casadi/casadi/wiki/L_i0
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/external.hpp#L47
+    https://github.com/casadi/casadi/blob/develop/casadi/core/external.hpp#L50
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/external.cpp#L47-L49
+    https://github.com/casadi/casadi/blob/develop/casadi/core/external.cpp#L50-L52
 
 
 
@@ -24184,10 +24333,10 @@ def external(*args) -> "casadi::Function":
     Extra doc: https://github.com/casadi/casadi/wiki/L_i1
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/external.hpp#L51
+    https://github.com/casadi/casadi/blob/develop/casadi/core/external.hpp#L54
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/external.cpp#L51-L54
+    https://github.com/casadi/casadi/blob/develop/casadi/core/external.cpp#L54-L57
 
 
 
@@ -24213,7 +24362,7 @@ def external(*args) -> "casadi::Function":
     https://github.com/casadi/casadi/blob/develop/casadi/core/external.hpp#L42
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/external.cpp#L42-L45
+    https://github.com/casadi/casadi/blob/develop/casadi/core/external.cpp#L42-L48
 
 
 
@@ -25896,6 +26045,25 @@ def conic(*args) -> "casadi::Function":
     |                  |                 | available.       |                  |
     |                  |                 | [default: true]  |                  |
     +------------------+-----------------+------------------+------------------+
+    | equality         | OT_BOOLVECTOR   | Indicate an      | casadi::Conic    |
+    |                  |                 | upfront hint     |                  |
+    |                  |                 | which of the     |                  |
+    |                  |                 | constraints are  |                  |
+    |                  |                 | equalities. Some |                  |
+    |                  |                 | solvers may be   |                  |
+    |                  |                 | able to exploit  |                  |
+    |                  |                 | this knowledge.  |                  |
+    |                  |                 | When true, the   |                  |
+    |                  |                 | corresponding    |                  |
+    |                  |                 | lower and upper  |                  |
+    |                  |                 | bounds are       |                  |
+    |                  |                 | assumed equal.   |                  |
+    |                  |                 | When false, the  |                  |
+    |                  |                 | corresponding    |                  |
+    |                  |                 | bounds may be    |                  |
+    |                  |                 | equal or         |                  |
+    |                  |                 | different.       |                  |
+    +------------------+-----------------+------------------+------------------+
     | error_on_fail    | OT_BOOL         | Throw exceptions | casadi::ProtoFun |
     |                  |                 | when function    | ction            |
     |                  |                 | evaluation fails |                  |
@@ -26173,6 +26341,8 @@ def conic(*args) -> "casadi::Function":
 
     - cplex
 
+    - daqp
+
     - fatrop
 
     - gurobi
@@ -26333,6 +26503,30 @@ def conic(*args) -> "casadi::Function":
 
 
 
+    --------------------------------------------------------------------------------
+
+    daqp
+    ----
+
+
+
+    Interface to Daqp solver for sparse Quadratic Programs, see daqp.dev 
+    for 
+    more information and https://www.maths.ed.ac.uk/hall/Daqp/DaqpOptions.html  
+    for a list of options.
+
+    Extra doc: https://github.com/casadi/casadi/wiki/L_27p
+
+    >List of available options
+
+    +------+---------+-------------------------------+
+    |  Id  |  Type   |          Description          |
+    +======+=========+===============================+
+    | daqp | OT_DICT | Options to be passed to Daqp. |
+    +------+---------+-------------------------------+
+
+
+
     --------------------------------------------------------------------------------
 
     fatrop
@@ -26372,19 +26566,22 @@ def conic(*args) -> "casadi::Function":
 
     >List of available options
 
-    +--------+--------------+-----------------------------------------------+
-    |   Id   |     Type     |                  Description                  |
-    +========+==============+===============================================+
-    | N      | OT_INT       | OCP horizon                                   |
-    +--------+--------------+-----------------------------------------------+
-    | fatrop | OT_DICT      | Options to be passed to fatrop                |
-    +--------+--------------+-----------------------------------------------+
-    | ng     | OT_INTVECTOR | Number of non-dynamic constraints, length N+1 |
-    +--------+--------------+-----------------------------------------------+
-    | nu     | OT_INTVECTOR | Number of controls, length N                  |
-    +--------+--------------+-----------------------------------------------+
-    | nx     | OT_INTVECTOR | Number of states, length N+1                  |
-    +--------+--------------+-----------------------------------------------+
+    +---------------------+--------------+-------------------------------------+
+    |         Id          |     Type     |             Description             |
+    +=====================+==============+=====================================+
+    | N                   | OT_INT       | OCP horizon                         |
+    +---------------------+--------------+-------------------------------------+
+    | fatrop              | OT_DICT      | Options to be passed to fatrop      |
+    +---------------------+--------------+-------------------------------------+
+    | ng                  | OT_INTVECTOR | Number of non-dynamic constraints,  |
+    |                     |              | length N+1                          |
+    +---------------------+--------------+-------------------------------------+
+    | nu                  | OT_INTVECTOR | Number of controls, length N        |
+    +---------------------+--------------+-------------------------------------+
+    | nx                  | OT_INTVECTOR | Number of states, length N+1        |
+    +---------------------+--------------+-------------------------------------+
+    | structure_detection | OT_STRING    | NONE | auto | manual                |
+    +---------------------+--------------+-------------------------------------+
 
 
 
@@ -27197,10 +27394,10 @@ def conic_options(*args) -> "std::vector< std::string,std::allocator< std::strin
     Extra doc: https://github.com/casadi/casadi/wiki/L_1ek
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.hpp#L542
+    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.hpp#L556
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.cpp#L542-L544
+    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.cpp#L556-L558
 
 
 
@@ -27221,10 +27418,10 @@ def conic_option_type(*args) -> "std::string":
     Extra doc: https://github.com/casadi/casadi/wiki/L_1el
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.hpp#L546
+    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.hpp#L560
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.cpp#L546-L548
+    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.cpp#L560-L562
 
 
 
@@ -27245,10 +27442,10 @@ def conic_option_info(*args) -> "std::string":
     Extra doc: https://github.com/casadi/casadi/wiki/L_1em
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.hpp#L550
+    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.hpp#L564
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.cpp#L550-L552
+    https://github.com/casadi/casadi/blob/develop/casadi/core/conic.cpp#L564-L566
 
 
 
@@ -27696,6 +27893,25 @@ def nlpsol(*args) -> "casadi::Function":
     |                  |                 | available.       |                  |
     |                  |                 | [default: true]  |                  |
     +------------------+-----------------+------------------+------------------+
+    | equality         | OT_BOOLVECTOR   | Indicate an      | casadi::Nlpsol   |
+    |                  |                 | upfront hint     |                  |
+    |                  |                 | which of the     |                  |
+    |                  |                 | constraints are  |                  |
+    |                  |                 | equalities. Some |                  |
+    |                  |                 | solvers may be   |                  |
+    |                  |                 | able to exploit  |                  |
+    |                  |                 | this knowledge.  |                  |
+    |                  |                 | When true, the   |                  |
+    |                  |                 | corresponding    |                  |
+    |                  |                 | lower and upper  |                  |
+    |                  |                 | bounds are       |                  |
+    |                  |                 | assumed equal.   |                  |
+    |                  |                 | When false, the  |                  |
+    |                  |                 | corresponding    |                  |
+    |                  |                 | bounds may be    |                  |
+    |                  |                 | equal or         |                  |
+    |                  |                 | different.       |                  |
+    +------------------+-----------------+------------------+------------------+
     | error_on_fail    | OT_BOOL         | Throw exceptions | casadi::ProtoFun |
     |                  |                 | when function    | ction            |
     |                  |                 | evaluation fails |                  |
@@ -28065,10 +28281,14 @@ def nlpsol(*args) -> "casadi::Function":
 
     - bonmin
 
+    - fatrop
+
     - ipopt
 
     - knitro
 
+    - madnlp
+
     - snopt
 
     - worhp
@@ -28423,6 +28643,90 @@ def nlpsol(*args) -> "casadi::Function":
 
 
 
+    --------------------------------------------------------------------------------
+
+    fatrop
+    ------
+
+
+
+    >List of available options
+
+    +---------------------+--------------+-------------------------------------+
+    |         Id          |     Type     |             Description             |
+    +=====================+==============+=====================================+
+    | N                   | OT_INT       | OCP horizon                         |
+    +---------------------+--------------+-------------------------------------+
+    | convexify_margin    | OT_DOUBLE    | When using a convexification        |
+    |                     |              | strategy, make sure that the        |
+    |                     |              | smallest eigenvalue is at least     |
+    |                     |              | this (default: 1e-7).               |
+    +---------------------+--------------+-------------------------------------+
+    | convexify_strategy  | OT_STRING    | NONE|regularize|eigen-              |
+    |                     |              | reflect|eigen-clip. Strategy to     |
+    |                     |              | convexify the Lagrange Hessian      |
+    |                     |              | before passing it to the solver.    |
+    +---------------------+--------------+-------------------------------------+
+    | debug               | OT_BOOL      | Produce debug information (default: |
+    |                     |              | false)                              |
+    +---------------------+--------------+-------------------------------------+
+    | fatrop              | OT_DICT      | Options to be passed to fatrop      |
+    +---------------------+--------------+-------------------------------------+
+    | ng                  | OT_INTVECTOR | Number of non-dynamic constraints,  |
+    |                     |              | length N+1                          |
+    +---------------------+--------------+-------------------------------------+
+    | nu                  | OT_INTVECTOR | Number of controls, length N+1      |
+    +---------------------+--------------+-------------------------------------+
+    | nx                  | OT_INTVECTOR | Number of states, length N+1        |
+    +---------------------+--------------+-------------------------------------+
+    | structure_detection | OT_STRING    | NONE | auto | manual                |
+    +---------------------+--------------+-------------------------------------+
+
+    Fatrop is a solver developed at KU Leuven by Lander Vanroye and Wilm 
+    Decre.
+     The algorithm is based on IPOPT, but the linear algebra is much
+     more 
+    efficient.
+
+    With structure_detection = 'none' (default), it will behave as a 
+    general-
+    purpose dense nonlinear program solver.
+
+    With structure_detection = 'manual', you can specify a block 
+    structure.
+
+    Let's say you perform multiply shooting with a system
+
+    x_k+1 = A_k x_k + B_k u_k
+
+    Suppose your constraint Jacobian looks like:
+
+    ::
+
+       nx0  nu0  nx1  nu1  nx2  nu2
+       -----------------------------
+
+
+    nx1 |A0 B0 I0 
+     ng1 |C0 D0 
+     nx2 | A1 B1 I1 
+     ng2 | C1 D1 
+     ng3 | C2 D2
+
+    with n* capturing the number of states, inputs, and constraints in 
+    each 
+    block.
+
+    You can then specify this structure with:
+
+    N = 2 nx = [nx0 ,nx1, nx2] nu = [nu0, nu1, nu2] ng = [ng1, ng2, ng3]
+
+    With structure_detection = 'auto', the block-defining parameters nx, 
+    nu, 
+    ng, and N are automatically detected from the sparsity pattern.
+
+
+
     --------------------------------------------------------------------------------
 
     ipopt
@@ -28582,6 +28886,37 @@ def nlpsol(*args) -> "casadi::Function":
 
 
 
+    --------------------------------------------------------------------------------
+
+    madnlp
+    ------
+
+
+
+    >List of available options
+
+    +--------------------+--------------+--------------------------------------+
+    |         Id         |     Type     |             Description              |
+    +====================+==============+======================================+
+    | convexify_margin   | OT_DOUBLE    | When using a convexification         |
+    |                    |              | strategy, make sure that the         |
+    |                    |              | smallest eigenvalue is at least this |
+    |                    |              | (default: 1e-7).                     |
+    +--------------------+--------------+--------------------------------------+
+    | convexify_strategy | OT_STRING    | NONE|regularize|eigen-reflect|eigen- |
+    |                    |              | clip. Strategy to convexify the      |
+    |                    |              | Lagrange Hessian before passing it   |
+    |                    |              | to the solver.                       |
+    +--------------------+--------------+--------------------------------------+
+    | madnlp             | OT_DICT      | Options to be passed to madnlp       |
+    +--------------------+--------------+--------------------------------------+
+    | ng                 | OT_INTVECTOR | Number of constraints                |
+    +--------------------+--------------+--------------------------------------+
+    | nw                 | OT_INTVECTOR | Number of variables                  |
+    +--------------------+--------------+--------------------------------------+
+
+
+
     --------------------------------------------------------------------------------
 
     snopt
@@ -29472,10 +29807,10 @@ def nlpsol_options(*args) -> "std::vector< std::string,std::allocator< std::stri
     Extra doc: https://github.com/casadi/casadi/wiki/L_1t5
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.hpp#L801
+    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.hpp#L820
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.cpp#L801-L803
+    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.cpp#L820-L822
 
 
 
@@ -29496,10 +29831,10 @@ def nlpsol_option_type(*args) -> "std::string":
     Extra doc: https://github.com/casadi/casadi/wiki/L_1t6
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.hpp#L805
+    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.hpp#L824
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.cpp#L805-L807
+    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.cpp#L824-L826
 
 
 
@@ -29520,10 +29855,10 @@ def nlpsol_option_info(*args) -> "std::string":
     Extra doc: https://github.com/casadi/casadi/wiki/L_1t7
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.hpp#L809
+    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.hpp#L828
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.cpp#L809-L811
+    https://github.com/casadi/casadi/blob/develop/casadi/core/nlpsol.cpp#L828-L830
 
 
 
@@ -33740,7 +34075,7 @@ class CodeGenerator(_object):
         https://github.com/casadi/casadi/blob/develop/casadi/core/code_generator.hpp#L69
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/code_generator.cpp#L986-L1006
+        https://github.com/casadi/casadi/blob/develop/casadi/core/code_generator.cpp#L999-L1019
 
 
 
@@ -35905,10 +36240,10 @@ def symvar(*args) -> "std::vector< casadi::Matrix< casadi::SXElem >,std::allocat
     Extra doc: https://github.com/casadi/casadi/wiki/L_1u
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L525
+    https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L548
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L432-L438
+    https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L440-L446
 
 
 
@@ -36008,10 +36343,10 @@ def linspace(*args) -> "casadi::Matrix< casadi::SXElem >":
 
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L784
+    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L797
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L784-L795
+    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L797-L808
 
 
 
@@ -36738,10 +37073,10 @@ def solve(*args) -> "casadi::Matrix< casadi::SXElem >":
 
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L204
+    https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L221
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L153-L159
+    https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L161-L167
 
 
 
@@ -37279,10 +37614,10 @@ def diff(*args) -> "casadi::Matrix< casadi::SXElem >":
     Extra doc: https://github.com/casadi/casadi/wiki/L_1ln
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L886
+    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L899
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L886-L893
+    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L899-L906
 
 
 
@@ -37304,10 +37639,10 @@ def cumsum(*args) -> "casadi::Matrix< casadi::SXElem >":
     Extra doc: https://github.com/casadi/casadi/wiki/L_1lm
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L864
+    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L877
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L864-L872
+    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L877-L885
 
 
 
@@ -37343,7 +37678,7 @@ def einstein(*args) -> "casadi::Matrix< casadi::SXElem >":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r5
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L520
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L528
 
     Implementation: 
     https://github.com/casadi/casadi/blob/develop/casadi/core/mx.cpp#L646-L652
@@ -37420,10 +37755,10 @@ def evalf(*args) -> "casadi::DM":
     Extra doc: https://github.com/casadi/casadi/wiki/L_rf
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L802
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L811
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L802-L804
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L811-L813
 
 
 
@@ -37498,10 +37833,10 @@ def reverse(*args) -> "std::vector< std::vector< casadi::Matrix< casadi::SXElem
     Extra doc: https://github.com/casadi/casadi/wiki/L_1la
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L530
+    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L543
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L530-L534
+    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L543-L547
 
 
 
@@ -38424,10 +38759,10 @@ def find(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_1le
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L559
+    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L572
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L559-L565
+    https://github.com/casadi/casadi/blob/develop/casadi/core/casadi_misc.hpp#L572-L578
 
 
 
@@ -38449,10 +38784,10 @@ def low(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_r8
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L699
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L708
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L699-L701
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L708-L710
 
 
 
@@ -38472,10 +38807,10 @@ def inv_node(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_re
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L793
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L802
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L793-L795
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L802-L804
 
 
 
@@ -38500,10 +38835,10 @@ def matrix_expand(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_rc
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L745
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L754
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L745-L749
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L754-L758
 
 
 
@@ -38528,10 +38863,10 @@ def graph_substitute(*args) -> "std::vector< casadi::MX,std::allocator< casadi::
     Extra doc: https://github.com/casadi/casadi/wiki/L_ra
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L720
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L729
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L720-L724
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L729-L733
 
 
 
@@ -38581,10 +38916,10 @@ def stop_diff(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_25o
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L835
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L844
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L835-L837
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L844-L846
 
 
 
@@ -38592,6 +38927,28 @@ def stop_diff(*args) -> "casadi::MX":
     """
     return _casadi.stop_diff(*args)
 
+def difference(*args) -> "std::vector< casadi::MX,std::allocator< casadi::MX > >":
+    """
+      \\bried Return all elements of a that do not occur in b, preserving 
+
+    ::
+
+      difference([MX] a, [MX] b) -> [MX]
+
+    order
+
+    Doc source: 
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L849
+
+    Implementation: 
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L849-L851
+
+
+
+
+    """
+    return _casadi.difference(*args)
+
 def no_hess(*args) -> "casadi::MX":
     """
       Stop second derivatives of an expression wrt to all its symbolic 
@@ -38607,10 +38964,10 @@ def no_hess(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_25n
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L827
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L836
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L827-L829
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L836-L838
 
 
 
@@ -38633,10 +38990,10 @@ def no_grad(*args) -> "casadi::MX":
     Extra doc: https://github.com/casadi/casadi/wiki/L_25m
 
     Doc source: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L818
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L827
 
     Implementation: 
-    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L818-L820
+    https://github.com/casadi/casadi/blob/develop/casadi/core/mx.hpp#L827-L829
 
 
 
@@ -47854,7 +48211,7 @@ class Opti(PrintableCommon, SharedObject):
         https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L200
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L145-L151
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L153-L159
 
 
 
@@ -47877,7 +48234,7 @@ class Opti(PrintableCommon, SharedObject):
         https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L200
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L145-L151
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L153-L159
 
 
 
@@ -47915,6 +48272,50 @@ class Opti(PrintableCommon, SharedObject):
         return _casadi.Opti_set_value(self, *args)
 
 
+    def set_domain(self, *args) -> "void":
+        """
+          [INTERNAL] 
+
+        ::
+
+          set_domain(self, MX x, str domain)
+
+        Set domain of a decision variable.
+
+        Parameters:
+        -----------
+
+        x: 
+        decision variable
+
+        type: 
+        'real', 'integer' (default: real)
+
+
+
+        ::
+
+          * opti.set_domain(x, "real")
+          * opti.set_domain(x, "integer")
+          * 
+
+
+
+        Extra doc: https://github.com/casadi/casadi/wiki/L_27t
+
+        Doc source: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L215
+
+        Implementation: 
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L145-L151
+
+
+
+
+        """
+        return _casadi.Opti_set_domain(self, *args)
+
+
     def solve(self, *args) -> "casadi::OptiSol":
         """
           [INTERNAL] 
@@ -47926,10 +48327,10 @@ class Opti(PrintableCommon, SharedObject):
         Crunch the numbers; solve the problem.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L204
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L221
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L153-L159
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L161-L167
 
 
 
@@ -47955,10 +48356,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1e
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L212
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L229
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L161-L167
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L169-L175
 
 
 
@@ -47992,10 +48393,10 @@ class Opti(PrintableCommon, SharedObject):
         value
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L225
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L242
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L186-L192
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L194-L200
 
 
 
@@ -48023,10 +48424,10 @@ class Opti(PrintableCommon, SharedObject):
         value
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L224
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L241
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L178-L184
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L186-L192
 
 
 
@@ -48057,10 +48458,10 @@ class Opti(PrintableCommon, SharedObject):
         value
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L225
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L242
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L186-L192
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L194-L200
 
 
 
@@ -48091,10 +48492,10 @@ class Opti(PrintableCommon, SharedObject):
         value
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L223
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L240
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L169-L175
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L177-L183
 
 
 
@@ -48123,10 +48524,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1f
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L234
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L251
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L194-L200
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L202-L208
 
 
 
@@ -48157,10 +48558,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1g
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L242
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L259
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L202-L208
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L210-L216
 
 
 
@@ -48182,10 +48583,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_266
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L247
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L264
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L210-L216
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L218-L224
 
 
 
@@ -48207,10 +48608,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_267
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L252
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L269
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L218-L224
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L226-L232
 
 
 
@@ -48250,10 +48651,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1h
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L262
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L279
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L234-L240
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L242-L248
 
 
 
@@ -48275,10 +48676,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_268
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L267
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L284
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L242-L248
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L250-L256
 
 
 
@@ -48300,10 +48701,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_269
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L272
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L289
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L250-L256
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L258-L264
 
 
 
@@ -48325,10 +48726,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_26a
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L277
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L294
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L258-L264
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L266-L272
 
 
 
@@ -48351,10 +48752,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_26b
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L282
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L299
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L266-L272
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L274-L280
 
 
 
@@ -48376,10 +48777,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_26c
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L287
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L304
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L274-L280
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L282-L288
 
 
 
@@ -48401,10 +48802,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_26d
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L292
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L309
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L282-L288
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L290-L296
 
 
 
@@ -48426,10 +48827,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_26e
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L297
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L314
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L290-L296
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L298-L304
 
 
 
@@ -48451,10 +48852,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_26f
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L302
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L319
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L298-L304
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L306-L312
 
 
 
@@ -48500,10 +48901,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1i
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L314
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L331
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L315-L321
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L323-L329
 
 
 
@@ -48544,10 +48945,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1j
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L336
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L353
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L341-L361
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L349-L369
 
 
 
@@ -48582,10 +48983,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1j
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L326
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L343
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L335-L339
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L343-L347
 
 
 
@@ -48623,10 +49024,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1j
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L336
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L353
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L341-L361
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L349-L369
 
 
 
@@ -48664,10 +49065,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1j
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L330
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L347
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L323-L333
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L331-L341
 
 
 
@@ -48715,10 +49116,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1l
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L362
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L379
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L733-L735
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L741-L743
 
 
 
@@ -48748,10 +49149,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1m
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L372
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L389
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L736-L738
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L744-L746
 
 
 
@@ -48777,10 +49178,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1n
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L380
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L397
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L739-L741
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L747-L749
 
 
 
@@ -48816,10 +49217,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1o
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L388
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L405
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L379-L385
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L387-L393
 
 
 
@@ -48855,10 +49256,10 @@ class Opti(PrintableCommon, SharedObject):
         Get user data.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L391
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L408
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L392-L398
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L400-L406
 
 
 
@@ -48878,10 +49279,10 @@ class Opti(PrintableCommon, SharedObject):
         Readable name of the class.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L394
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L411
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L394-L394
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L411-L411
 
 
 
@@ -48901,10 +49302,10 @@ class Opti(PrintableCommon, SharedObject):
         Print representation.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L397
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L414
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L636-L656
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L644-L664
 
 
 
@@ -48924,10 +49325,10 @@ class Opti(PrintableCommon, SharedObject):
         Get string representation.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L400
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L417
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L658-L662
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L666-L670
 
 
 
@@ -48952,10 +49353,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1p
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L409
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L426
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L371-L377
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L379-L385
 
 
 
@@ -48975,10 +49376,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1p
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L409
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L426
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L371-L377
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L379-L385
 
 
 
@@ -49001,10 +49402,10 @@ class Opti(PrintableCommon, SharedObject):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1p
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L408
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L425
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L363-L369
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L371-L377
 
 
 
@@ -49233,6 +49634,8 @@ OPTI_UNKNOWN = _casadi.OPTI_UNKNOWN
 OPTI_VAR = _casadi.OPTI_VAR
 OPTI_PAR = _casadi.OPTI_PAR
 OPTI_DUAL_G = _casadi.OPTI_DUAL_G
+OPTI_DOMAIN_REAL = _casadi.OPTI_DOMAIN_REAL
+OPTI_DOMAIN_INTEGER = _casadi.OPTI_DOMAIN_INTEGER
 class IndexAbstraction(_object):
     """
 
@@ -49384,6 +49787,9 @@ class MetaVar(IndexAbstraction):
     __swig_getmethods__["type"] = _casadi.MetaVar_type_get
     if _newclass:
         type = _swig_property(_casadi.MetaVar_type_get)
+    __swig_getmethods__["domain"] = _casadi.MetaVar_domain_get
+    if _newclass:
+        domain = _swig_property(_casadi.MetaVar_domain_get)
     __swig_getmethods__["count"] = _casadi.MetaVar_count_get
     if _newclass:
         count = _swig_property(_casadi.MetaVar_count_get)
@@ -49513,10 +49919,10 @@ class OptiAdvanced(Opti):
         Get the underlying CasADi solver of the  Opti stack.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L511
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L534
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L400-L406
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L408-L414
 
 
 
@@ -49537,10 +49943,10 @@ class OptiAdvanced(Opti):
          not variables
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L514
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L537
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L408-L414
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L416-L422
 
 
 
@@ -49567,10 +49973,10 @@ class OptiAdvanced(Opti):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1u
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L525
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L548
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L432-L438
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L440-L446
 
 
 
@@ -49591,10 +49997,10 @@ class OptiAdvanced(Opti):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1u
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L523
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L546
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L416-L422
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L424-L430
 
 
 
@@ -49618,10 +50024,10 @@ class OptiAdvanced(Opti):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1u
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L524
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L547
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L424-L430
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L432-L438
 
 
 
@@ -49645,10 +50051,10 @@ class OptiAdvanced(Opti):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1u
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L525
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L548
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L432-L438
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L440-L446
 
 
 
@@ -49671,10 +50077,10 @@ class OptiAdvanced(Opti):
         Interpret an expression (for internal use only)
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L529
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L552
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L440-L446
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L448-L454
 
 
 
@@ -49694,10 +50100,10 @@ class OptiAdvanced(Opti):
         Get meta-data of symbol (for internal use only)
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L532
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L555
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L448-L454
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L456-L462
 
 
 
@@ -49717,10 +50123,10 @@ class OptiAdvanced(Opti):
         Get meta-data of symbol (for internal use only)
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L535
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L558
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L456-L462
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L464-L470
 
 
 
@@ -49740,10 +50146,10 @@ class OptiAdvanced(Opti):
         Set meta-data of an expression.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L538
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L561
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L464-L470
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L472-L478
 
 
 
@@ -49763,10 +50169,10 @@ class OptiAdvanced(Opti):
         Set meta-data of an expression.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L541
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L564
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L472-L478
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L480-L486
 
 
 
@@ -50025,10 +50431,10 @@ class OptiAdvanced(Opti):
         Fix the structure of the optimization problem.
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L572
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L595
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L664-L670
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L672-L678
 
 
 
@@ -50316,10 +50722,10 @@ class OptiSol(PrintableCommon):
         value
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L622
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L645
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L760-L762
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L768-L770
 
 
 
@@ -50347,10 +50753,10 @@ class OptiSol(PrintableCommon):
         value
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L621
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L644
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L757-L759
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L765-L767
 
 
 
@@ -50381,10 +50787,10 @@ class OptiSol(PrintableCommon):
         value
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L622
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L645
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L760-L762
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L768-L770
 
 
 
@@ -50415,10 +50821,10 @@ class OptiSol(PrintableCommon):
         value
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L620
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L643
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L754-L756
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L762-L764
 
 
 
@@ -50441,10 +50847,10 @@ class OptiSol(PrintableCommon):
         get assignment expressions for the optimal solution
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L626
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L649
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L764-L766
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L772-L774
 
 
 
@@ -50484,10 +50890,10 @@ class OptiSol(PrintableCommon):
         Extra doc: https://github.com/casadi/casadi/wiki/L_1w
 
         Doc source: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L635
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.hpp#L658
 
         Implementation: 
-        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L772-L774
+        https://github.com/casadi/casadi/blob/develop/casadi/core/optistack.cpp#L780-L782