casadi 3.6.5__cp39-none-manylinux2014_i686.whl → 3.6.7__cp39-none-manylinux2014_i686.whl

casadi/cmake/casadi-config-version.cmake

@@ -1,4 +1,4 @@
-set(PACKAGE_VERSION "3.6.5")
+set(PACKAGE_VERSION "3.6.7")
 
 # Check whether the requested PACKAGE_FIND_VERSION is compatible
 if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")

casadi/cmake/highs/highs-config.cmake

@@ -2,23 +2,16 @@
 
 set(HIGHS_DIR "")
 
-if (FAST_BUILD)
-  if(NOT TARGET highs)
-    include("${CMAKE_CURRENT_LIST_DIR}/highs-targets.cmake")
-  endif()
+if(NOT TARGET highs)
+  include("${CMAKE_CURRENT_LIST_DIR}/highs-targets.cmake")
+endif()
 
-  set(HIGHS_LIBRARIES highs)
-else()
-  if(NOT TARGET libhighs)
-    include("${CMAKE_CURRENT_LIST_DIR}/highs-targets.cmake")
-  endif()
+set(HIGHS_LIBRARIES highs)
 
-  set(HIGHS_LIBRARIES libhighs)
-endif() 
-
-set(HIGHS_INCLUDE_DIRS "${CMAKE_CURRENT_LIST_DIR}/../../../include/highs")
+set(HIGHS_INCLUDE_DIRS "${CMAKE_CURRENT_LIST_DIR}/../../../include")
 
 set(HIGHS_FOUND TRUE)
 
 include(CMakeFindDependencyMacro)
+find_dependency(Threads)
 find_dependency(ZLIB)

casadi/cmake/highs/highs-targets-release.cmake

@@ -5,24 +5,24 @@
 # Commands may need to know the format version.
 set(CMAKE_IMPORT_FILE_VERSION 1)
 
-# Import target "highs" for configuration "Release"
-set_property(TARGET highs APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
-set_target_properties(highs PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/bin/highs"
+# Import target "highs::highs" for configuration "Release"
+set_property(TARGET highs::highs APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(highs::highs PROPERTIES
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libhighs.so.1.7.2"
+  IMPORTED_SONAME_RELEASE "libhighs.so.1"
   )
 
-list(APPEND _cmake_import_check_targets highs )
-list(APPEND _cmake_import_check_files_for_highs "${_IMPORT_PREFIX}/bin/highs" )
+list(APPEND _cmake_import_check_targets highs::highs )
+list(APPEND _cmake_import_check_files_for_highs::highs "${_IMPORT_PREFIX}/lib/libhighs.so.1.7.2" )
 
-# Import target "libhighs" for configuration "Release"
-set_property(TARGET libhighs APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
-set_target_properties(libhighs PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libhighs.so.1.6.0"
-  IMPORTED_SONAME_RELEASE "libhighs.so.1.6"
+# Import target "highs::highs-bin" for configuration "Release"
+set_property(TARGET highs::highs-bin APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
+set_target_properties(highs::highs-bin PROPERTIES
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/bin/highs"
   )
 
-list(APPEND _cmake_import_check_targets libhighs )
-list(APPEND _cmake_import_check_files_for_libhighs "${_IMPORT_PREFIX}/lib/libhighs.so.1.6.0" )
+list(APPEND _cmake_import_check_targets highs::highs-bin )
+list(APPEND _cmake_import_check_files_for_highs::highs-bin "${_IMPORT_PREFIX}/bin/highs" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

casadi/cmake/highs/highs-targets.cmake

@@ -19,7 +19,7 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 set(_cmake_targets_defined "")
 set(_cmake_targets_not_defined "")
 set(_cmake_expected_targets "")
-foreach(_cmake_expected_target IN ITEMS highs libhighs)
+foreach(_cmake_expected_target IN ITEMS highs::highs highs::highs-bin)
   list(APPEND _cmake_expected_targets "${_cmake_expected_target}")
   if(TARGET "${_cmake_expected_target}")
     list(APPEND _cmake_targets_defined "${_cmake_expected_target}")
@@ -55,19 +55,22 @@ if(_IMPORT_PREFIX STREQUAL "/")
   set(_IMPORT_PREFIX "")
 endif()
 
-# Create imported target highs
-add_executable(highs IMPORTED)
+# Create imported target highs::highs
+add_library(highs::highs SHARED IMPORTED)
 
-set_target_properties(highs PROPERTIES
-  INTERFACE_COMPILE_OPTIONS "-Wno-unused-variable;-Wno-unused-const-variable"
+set_target_properties(highs::highs PROPERTIES
+  COMPATIBLE_INTERFACE_STRING "HIGHS_MAJOR_VERSION"
+  INTERFACE_HIGHS_MAJOR_VERSION "1"
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include;${_IMPORT_PREFIX}/include/highs"
+  INTERFACE_LINK_LIBRARIES "ZLIB::ZLIB;Threads::Threads"
+  INTERFACE_POSITION_INDEPENDENT_CODE "ON"
 )
 
-# Create imported target libhighs
-add_library(libhighs SHARED IMPORTED)
+# Create imported target highs::highs-bin
+add_executable(highs::highs-bin IMPORTED)
 
-set_target_properties(libhighs PROPERTIES
-  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include/highs"
-  INTERFACE_LINK_LIBRARIES "ZLIB::ZLIB;Threads::Threads"
+set_target_properties(highs::highs-bin PROPERTIES
+  INTERFACE_COMPILE_OPTIONS "-Wno-unused-variable;-Wno-unused-const-variable"
 )
 
 if(CMAKE_VERSION VERSION_LESS 2.8.12)

casadi/include/casadi/casadi.i

@@ -3694,6 +3694,9 @@ DECL M casadi_stop_diff(const M& expr, casadi_int order) {
 DECL M casadi_stop_diff(const M& expr, const M& var, casadi_int order) {
   return stop_diff(expr, var, order);
 }
+DECL std::vector< M > casadi_difference(const std::vector< M >& a, const std::vector< M >& b) {
+  return difference(a, b);
+}
 DECL M casadi_no_hess(const M& expr) {
   return no_hess(expr);
 }

casadi/include/casadi/casadi_c.h

@@ -128,6 +128,8 @@ CASADI_EXPORT int casadi_c_work_id(int id, casadi_int *sz_arg, casadi_int* sz_re
 CASADI_EXPORT int casadi_c_eval_id(int id, const double** arg, double** res,
   casadi_int* iw, double* w, int mem);
 
+CASADI_EXPORT void casadi_c_logger_write(const char* msg, int num);
+CASADI_EXPORT void casadi_c_logger_flush(void);
 
 #ifdef __cplusplus
 }

casadi/include/casadi/config.h

@@ -26,18 +26,18 @@
 
 #define CASADI_MAJOR_VERSION 3
 #define CASADI_MINOR_VERSION 6
-#define CASADI_PATCH_VERSION 5
+#define CASADI_PATCH_VERSION 7
 #define CASADI_IS_RELEASE 1
-#define CASADI_VERSION_STRING "3.6.5"
-#define CASADI_GIT_REVISION "3d820e62cb588e76498c92bf6feff6876b4e7ca0"  // NOLINT(whitespace/line_length)
-#define CASADI_GIT_DESCRIBE "3.6.3-175.3d820e62c"  // NOLINT(whitespace/line_length)
-#define CASADI_FEATURE_LIST "\n * dynamic-loading, Support for import of FMI 2.0 binaries\n * sundials-interface, Interface to the ODE/DAE integrator suite SUNDIALS.\n * csparse-interface, Interface to the sparse direct linear solver CSparse.\n * superscs-interface, Interface to QP solver SUPERSCS.\n * osqp-interface, Interface to QP solver OSQP.\n * tinyxml-interface, Interface to the XML parser TinyXML.\n * qpoases-interface, Interface to the active-set QP solver qpOASES.\n * blocksqp-interface, Interface to the NLP solver blockSQP.\n * snopt-mockup-build, Use mockup SNOPT (BUILD_MOCKUPS_VERSION=v65) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * knitro-mockup-build, Use mockup KNITRO (BUILD_MOCKUPS_VERSION=v65) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * gurobi-mockup-build, Use mockup GUROBI (BUILD_MOCKUPS_VERSION=v65) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * worhp-mockup-build, Use mockup WORHP (BUILD_MOCKUPS_VERSION=v65) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * hsl-mockup-build, Use mockup WORHP (BUILD_MOCKUPS_VERSION=v65) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * alpaqa-sourcebuild, Build Alpaqa (BUILD_ALPAQA_VERSION=develop) from downloaded source (BUILD_ALPAQA_GIT_REPO=https://github.com/jgillis/alpaqa).\n * highs-sourcebuild, Build HiGHS (BUILD_HIGHS_VERSION=v1.6.0) from downloaded source (BUILD_HIGHS_GIT_REPO=https://github.com/ERGO-Code/HiGHS).\n * proxqp-sourcebuild, Build PROXQP (BUILD_PROXQP_VERSION=v0.3.2) from downloaded source (BUILD_PROXQP_GIT_REPO=https://github.com/Simple-Robotics/proxsuite.git).\n * osqp-sourcebuild, Build OSQP (BUILD_OSQP_VERSION=v0.6.2) from downloaded source (BUILD_OSQP_GIT_REPO=https://github.com/osqp/osqp.git).\n * superscs-sourcebuild, Build SuperSCS (BUILD_SUPERSCS_VERSION=4d2d1bd03ed4cf93e684a880b233760ce34ca69c) from downloaded source (BUILD_SUPERSCS_GIT_REPO=https://github.com/jgillis/scs.git).\n * sleqp-sourcebuild, Build SLEQP (BUILD_SLEQP_VERSION=patch-1) from downloaded source (BUILD_SLEQP_GIT_REPO=https://github.com/jgillis/sleqp.git).\n * bonmin-sourcebuild, Build BONMIN (BUILD_BONMIN_VERSION=releases/1.8.9) from downloaded source (BUILD_BONMIN_GIT_REPO=https://github.com/coin-or/Bonmin.git).\n * ipopt-sourcebuild, Build IPOPT (BUILD_IPOPT_VERSION=3.14.11.mod) from downloaded source (BUILD_IPOPT_GIT_REPO=https://github.com/jgillis/Ipopt-1.git).\n * cbc-sourcebuild, Build CBC (BUILD_CBC_VERSION=releases/2.10.11) from downloaded source.\n * clp-sourcebuild, Build CLP (BUILD_CLP_VERSION=releases/1.17.9) from downloaded source (BUILD_CLP_GIT_REPO=https://github.com/coin-or/Clp.git).\n * mumps-sourcebuild, Build MUMPS (BUILD_MUMPS_TP_VERSION=releases/3.0.2) from downloaded source (BUILD_MUMPS_TP_GIT_REPO=https://github.com/coin-or-tools/ThirdParty-Mumps.git).\n * spral-sourcebuild, Build SPRAL (BUILD_SPRAL_VERSION=d385d2c9e858366d257cafaaf05760ffa6543e26) from downloaded source (BUILD_SPRAL_GIT_REPO=https://github.com/ralna/spral.git).\n * metis-sourcebuild, Build METIS (BUILD_METIS_TP_VERSION=releases/2.0.0) from downloaded source.\n * trlib-sourcebuild, Build TRLIB (BUILD_TRLIB_VERSION=c7632b8b14152e78bc21721a3bd1a2432586b824) from downloaded source (BUILD_TRLIB_GIT_REPO=https://github.com/jgillis/trlib.git).\n * lapack-sourcebuild, Download and install OpenBLAS for LAPACK+BLAS\n * eigen3-sourcebuild, Build Eigen (BUILD_EIGEN3_VERSION=3.4.0) from downloaded source (BUILD_EIGEN3_GIT_REPO=https://gitlab.com/libeigen/eigen.git).\n * simde-sourcebuild, Build Simde (BUILD_SIMDE_VERSION=v0.7.2) from downloaded source (BUILD_SIMDE_GIT_REPO=https://github.com/simd-everywhere/simde.git).\n * gurobi-interface, Interface to the (mixed-integer) QP solver GUROBI\n * knitro-interface, Interface to the NLP solver KNITRO.\n * snopt-interface, Interface to the NLP solver KNITRO.\n * worhp-interface, Interface to the NLP solver Worhp (requires gfortran, gomp).\n * lapack-interface, Interface to LAPACK.\n * mumps-interface, Interface to MUMPS.\n * spral-interface, Interface to SPRAL.\n * coinutils-sourcebuild, Build COINUTILS (BUILD_COINUTILS_VERSION=releases/2.11.10) from downloaded source.\n * osi-sourcebuild, Build OSI (BUILD_OSI_VERSION=releases/0.108.9) from downloaded source.\n * clp-interface, Interface to the LP solver CLP.\n * cgl-sourcebuild, Build CGL (BUILD_CGL_VERSION=releases/0.60.8) from downloaded source.\n * cbc-interface, Interface to the LP solver CBC.\n * ipopt-interface, Interface to the NLP solver Ipopt.\n * bonmin-interface, Interface to the MINLP framework Bonmin.\n * highs-interface, Interface to the MILP / QP solver HiGHS.\n * sleqp-interface, Interface to the NLP solver SLEQP.\n * alpaqa-interface, Interface to the NLP solver Alpaqa.\n * proxqp-interface, Interface to QP solver PROXQP.\n * ampl-interface, Interface to the AMPL solver library.\n"  // NOLINT(whitespace/line_length)
+#define CASADI_VERSION_STRING "3.6.7"
+#define CASADI_GIT_REVISION "a2d71bf95dbd3fa5f6725504bcba67dd52869d91"  // NOLINT(whitespace/line_length)
+#define CASADI_GIT_DESCRIBE "3.6.3-327.a2d71bf95"  // NOLINT(whitespace/line_length)
+#define CASADI_FEATURE_LIST "\n * dynamic-loading, Support for import of FMI 2.0 binaries\n * sundials-interface, Interface to the ODE/DAE integrator suite SUNDIALS.\n * csparse-interface, Interface to the sparse direct linear solver CSparse.\n * superscs-interface, Interface to QP solver SUPERSCS.\n * osqp-interface, Interface to QP solver OSQP.\n * tinyxml-interface, Interface to the XML parser TinyXML.\n * qpoases-interface, Interface to the active-set QP solver qpOASES.\n * blocksqp-interface, Interface to the NLP solver blockSQP.\n * snopt-mockup-build, Use mockup SNOPT (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * knitro-mockup-build, Use mockup KNITRO (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * gurobi-mockup-build, Use mockup GUROBI (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * worhp-mockup-build, Use mockup WORHP (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * hsl-mockup-build, Use mockup WORHP (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * madnlp-mockup-build, Use mockup MadNLP (BUILD_MOCKUPS_VERSION=master) from downloaded source (BUILD_MOCKUPS_GIT_REPO=https://github.com/casadi/mockups.git).\n * alpaqa-sourcebuild, Build Alpaqa (BUILD_ALPAQA_VERSION=develop) from downloaded source (BUILD_ALPAQA_GIT_REPO=https://github.com/jgillis/alpaqa).\n * highs-sourcebuild, Build HiGHS (BUILD_HIGHS_VERSION=v1.7.2) from downloaded source (BUILD_HIGHS_GIT_REPO=https://github.com/ERGO-Code/HiGHS).\n * daqp-sourcebuild, Build DAQP (BUILD_DAQP_VERSION=master) from downloaded source (BUILD_DAQP_GIT_REPO=https://github.com/jgillis/daqp.git).\n * proxqp-sourcebuild, Build PROXQP (BUILD_PROXQP_VERSION=v0.3.2) from downloaded source (BUILD_PROXQP_GIT_REPO=https://github.com/Simple-Robotics/proxsuite.git).\n * osqp-sourcebuild, Build OSQP (BUILD_OSQP_VERSION=v0.6.3) from downloaded source (BUILD_OSQP_GIT_REPO=https://github.com/osqp/osqp.git).\n * superscs-sourcebuild, Build SuperSCS (BUILD_SUPERSCS_VERSION=4d2d1bd03ed4cf93e684a880b233760ce34ca69c) from downloaded source (BUILD_SUPERSCS_GIT_REPO=https://github.com/jgillis/scs.git).\n * sleqp-sourcebuild, Build SLEQP (BUILD_SLEQP_VERSION=patch-1) from downloaded source (BUILD_SLEQP_GIT_REPO=https://github.com/jgillis/sleqp.git).\n * bonmin-sourcebuild, Build BONMIN (BUILD_BONMIN_VERSION=releases/1.8.9) from downloaded source (BUILD_BONMIN_GIT_REPO=https://github.com/coin-or/Bonmin.git).\n * ipopt-sourcebuild, Build IPOPT (BUILD_IPOPT_VERSION=3.14.11.mod) from downloaded source (BUILD_IPOPT_GIT_REPO=https://github.com/jgillis/Ipopt-1.git).\n * cbc-sourcebuild, Build CBC (BUILD_CBC_VERSION=releases/2.10.11) from downloaded source.\n * clp-sourcebuild, Build CLP (BUILD_CLP_VERSION=releases/1.17.9) from downloaded source (BUILD_CLP_GIT_REPO=https://github.com/coin-or/Clp.git).\n * mumps-sourcebuild, Build MUMPS (BUILD_MUMPS_TP_VERSION=releases/3.0.2) from downloaded source (BUILD_MUMPS_TP_GIT_REPO=https://github.com/coin-or-tools/ThirdParty-Mumps.git).\n * spral-sourcebuild, Build SPRAL (BUILD_SPRAL_VERSION=d385d2c9e858366d257cafaaf05760ffa6543e26) from downloaded source (BUILD_SPRAL_GIT_REPO=https://github.com/ralna/spral.git).\n * metis-sourcebuild, Build METIS (BUILD_METIS_TP_VERSION=6997f64) from downloaded source.\n * trlib-sourcebuild, Build TRLIB (BUILD_TRLIB_VERSION=c7632b8b14152e78bc21721a3bd1a2432586b824) from downloaded source (BUILD_TRLIB_GIT_REPO=https://github.com/jgillis/trlib.git).\n * lapack-sourcebuild, Download and install OpenBLAS for LAPACK+BLAS\n * eigen3-sourcebuild, Build Eigen (BUILD_EIGEN3_VERSION=3.4.0) from downloaded source (BUILD_EIGEN3_GIT_REPO=https://gitlab.com/libeigen/eigen.git).\n * simde-sourcebuild, Build Simde (BUILD_SIMDE_VERSION=v0.7.2) from downloaded source (BUILD_SIMDE_GIT_REPO=https://github.com/simd-everywhere/simde.git).\n * gurobi-interface, Interface to the (mixed-integer) QP solver GUROBI\n * knitro-interface, Interface to the NLP solver KNITRO.\n * madnlp-interface, Interface to the NLP solver MadNLP.\n * snopt-interface, Interface to the NLP solver KNITRO.\n * worhp-interface, Interface to the NLP solver Worhp (requires gfortran, gomp).\n * lapack-interface, Interface to LAPACK.\n * mumps-interface, Interface to MUMPS.\n * spral-interface, Interface to SPRAL.\n * coinutils-sourcebuild, Build COINUTILS (BUILD_COINUTILS_VERSION=releases/2.11.10) from downloaded source.\n * osi-sourcebuild, Build OSI (BUILD_OSI_VERSION=releases/0.108.9) from downloaded source.\n * clp-interface, Interface to the LP solver CLP.\n * cgl-sourcebuild, Build CGL (BUILD_CGL_VERSION=releases/0.60.8) from downloaded source.\n * cbc-interface, Interface to the LP solver CBC.\n * ipopt-interface, Interface to the NLP solver Ipopt.\n * bonmin-interface, Interface to the MINLP framework Bonmin.\n * highs-interface, Interface to the MILP / QP solver HiGHS.\n * daqp-interface, Interface to the MILP / QP solver HiGHS.\n * sleqp-interface, Interface to the NLP solver SLEQP.\n * alpaqa-interface, Interface to the NLP solver Alpaqa.\n * proxqp-interface, Interface to QP solver PROXQP.\n * ampl-interface, Interface to the AMPL solver library.\n"  // NOLINT(whitespace/line_length)
 #define CASADI_BUILD_TYPE "Release"  // NOLINT(whitespace/line_length)
 #define CASADI_COMPILER_ID "GNU"  // NOLINT(whitespace/line_length)
 #define CASADI_COMPILER "/opt/rh/devtoolset-10/root/usr/bin/g++"  // NOLINT(whitespace/line_length)
-#define CASADI_COMPILER_FLAGS " -pthread    -DUSE_CXX11 -DHAVE_MKSTEMPS -DCASADI_WITH_THREAD -DWITH_DEEPBIND -DCASADI_MAJOR_VERSION=3 -DCASADI_MINOR_VERSION=6 -DCASADI_PATCH_VERSION=5 -DCASADI_IS_RELEASE=1 -DCASADI_VERSION=31 -D_USE_MATH_DEFINES -D_SCL_SECURE_NO_WARNINGS -DWITH_DL -DWITH_DEPRECATED_FEATURES -DCASADI_DEFAULT_COMPILER_PLUGIN=shell"  // NOLINT(whitespace/line_length)
-#define CASADI_MODULES "casadi;casadi_linsol_lapacklu;casadi_linsol_lapackqr;casadi_sundials_common;casadi_integrator_cvodes;casadi_integrator_idas;casadi_rootfinder_kinsol;casadi_nlpsol_sleqp;casadi_nlpsol_ipopt;casadi_nlpsol_bonmin;casadi_conic_qpoases;casadi_nlpsol_knitro;casadi_conic_clp;casadi_conic_cbc;casadi_linsol_csparse;casadi_linsol_csparsecholesky;casadi_conic_highs;casadi_linsol_ma27;casadi_linsol_mumps;casadi_conic_gurobi;casadi_nlpsol_worhp;casadi_nlpsol_snopt;casadi_xmlfile_tinyxml;casadi_nlpsol_blocksqp;casadi_conic_superscs;casadi_nlpsol_ampl;casadi_conic_proxqp;casadi_conic_osqp;casadi_nlpsol_alpaqa;casadi_conic_nlpsol;casadi_conic_qrqp;casadi_conic_ipqp;casadi_nlpsol_qrsqp;casadi_importer_shell;casadi_integrator_rk;casadi_integrator_collocation;casadi_interpolant_linear;casadi_interpolant_bspline;casadi_linsol_symbolicqr;casadi_linsol_qr;casadi_linsol_ldl;casadi_linsol_tridiag;casadi_linsol_lsqr;casadi_nlpsol_sqpmethod;casadi_nlpsol_feasiblesqpmethod;casadi_nlpsol_scpgen;casadi_rootfinder_newton;casadi_rootfinder_fast_newton;casadi_rootfinder_nlpsol"  // NOLINT(whitespace/line_length)
-#define CASADI_PLUGINS "Linsol::lapacklu;Linsol::lapackqr;Integrator::cvodes;Integrator::idas;Rootfinder::kinsol;Nlpsol::sleqp;Nlpsol::ipopt;Nlpsol::bonmin;Conic::qpoases;Nlpsol::knitro;Conic::clp;Conic::cbc;Linsol::csparse;Linsol::csparsecholesky;Conic::highs;Linsol::ma27;Linsol::mumps;Conic::gurobi;Nlpsol::worhp;Nlpsol::snopt;XmlFile::tinyxml;Nlpsol::blocksqp;Conic::superscs;Nlpsol::ampl;Conic::proxqp;Conic::osqp;Nlpsol::alpaqa;Conic::nlpsol;Conic::qrqp;Conic::ipqp;Nlpsol::qrsqp;Importer::shell;Integrator::rk;Integrator::collocation;Interpolant::linear;Interpolant::bspline;Linsol::symbolicqr;Linsol::qr;Linsol::ldl;Linsol::tridiag;Linsol::lsqr;Nlpsol::sqpmethod;Nlpsol::feasiblesqpmethod;Nlpsol::scpgen;Rootfinder::newton;Rootfinder::fast_newton;Rootfinder::nlpsol"  // NOLINT(whitespace/line_length)
+#define CASADI_COMPILER_FLAGS " -pthread    -DUSE_CXX11 -DHAVE_MKSTEMPS -DCASADI_WITH_THREAD -DWITH_DEEPBIND -DCASADI_MAJOR_VERSION=3 -DCASADI_MINOR_VERSION=6 -DCASADI_PATCH_VERSION=7 -DCASADI_IS_RELEASE=1 -DCASADI_VERSION=31 -D_USE_MATH_DEFINES -D_SCL_SECURE_NO_WARNINGS -DWITH_DL -DWITH_DEPRECATED_FEATURES -DCASADI_DEFAULT_COMPILER_PLUGIN=shell"  // NOLINT(whitespace/line_length)
+#define CASADI_MODULES "casadi;casadi_linsol_lapacklu;casadi_linsol_lapackqr;casadi_sundials_common;casadi_integrator_cvodes;casadi_integrator_idas;casadi_rootfinder_kinsol;casadi_nlpsol_sleqp;casadi_nlpsol_ipopt;casadi_nlpsol_madnlp;casadi_nlpsol_bonmin;casadi_conic_qpoases;casadi_nlpsol_knitro;casadi_conic_clp;casadi_conic_cbc;casadi_linsol_csparse;casadi_linsol_csparsecholesky;casadi_conic_highs;casadi_conic_daqp;casadi_linsol_ma27;casadi_linsol_mumps;casadi_conic_gurobi;casadi_nlpsol_worhp;casadi_nlpsol_snopt;casadi_xmlfile_tinyxml;casadi_nlpsol_blocksqp;casadi_conic_superscs;casadi_nlpsol_ampl;casadi_conic_proxqp;casadi_conic_osqp;casadi_nlpsol_alpaqa;casadi_conic_nlpsol;casadi_conic_qrqp;casadi_conic_ipqp;casadi_nlpsol_qrsqp;casadi_importer_shell;casadi_integrator_rk;casadi_integrator_collocation;casadi_interpolant_linear;casadi_interpolant_bspline;casadi_linsol_symbolicqr;casadi_linsol_qr;casadi_linsol_ldl;casadi_linsol_tridiag;casadi_linsol_lsqr;casadi_nlpsol_sqpmethod;casadi_nlpsol_feasiblesqpmethod;casadi_nlpsol_scpgen;casadi_rootfinder_newton;casadi_rootfinder_fast_newton;casadi_rootfinder_nlpsol"  // NOLINT(whitespace/line_length)
+#define CASADI_PLUGINS "Linsol::lapacklu;Linsol::lapackqr;Integrator::cvodes;Integrator::idas;Rootfinder::kinsol;Nlpsol::sleqp;Nlpsol::ipopt;Nlpsol::madnlp;Nlpsol::bonmin;Conic::qpoases;Nlpsol::knitro;Conic::clp;Conic::cbc;Linsol::csparse;Linsol::csparsecholesky;Conic::highs;Conic::daqp;Linsol::ma27;Linsol::mumps;Conic::gurobi;Nlpsol::worhp;Nlpsol::snopt;XmlFile::tinyxml;Nlpsol::blocksqp;Conic::superscs;Nlpsol::ampl;Conic::proxqp;Conic::osqp;Nlpsol::alpaqa;Conic::nlpsol;Conic::qrqp;Conic::ipqp;Nlpsol::qrsqp;Importer::shell;Integrator::rk;Integrator::collocation;Interpolant::linear;Interpolant::bspline;Linsol::symbolicqr;Linsol::qr;Linsol::ldl;Linsol::tridiag;Linsol::lsqr;Nlpsol::sqpmethod;Nlpsol::feasiblesqpmethod;Nlpsol::scpgen;Rootfinder::newton;Rootfinder::fast_newton;Rootfinder::nlpsol"  // NOLINT(whitespace/line_length)
 #define CASADI_INSTALL_PREFIX "/usr/local"  // NOLINT(whitespace/line_length)
 #define CASADI_SHARED_LIBRARY_PREFIX "lib"  // NOLINT(whitespace/line_length)
 #define CASADI_SHARED_LIBRARY_SUFFIX ".so"  // NOLINT(whitespace/line_length)

casadi/include/casadi/core/casadi_common.hpp

@@ -135,6 +135,7 @@ namespace casadi {
   /** \brief  Function pointer types for the C API
 
       \identifier{7j} */
+  typedef int (*config_t)(int, const char**);
   typedef void (*signal_t)(void);
   typedef casadi_int (*getint_t)(void);
   typedef double (*default_t)(casadi_int i);

casadi/include/casadi/core/casadi_misc.hpp

@@ -144,6 +144,28 @@ private:
   template<typename T>
   std::vector<T> vector_slice(const std::vector<T> &v, const std::vector<casadi_int> &i);
 
+  /**  \brief Select subset of vector
+
+  *  \param v Vector to slice
+  *  \param s Select?
+
+       \identifier{286} */
+  template<typename T>
+  std::vector<T> vector_select(const std::vector<T> &v, const std::vector<bool> &s,
+    bool invert=false);
+
+  /**  \brief Return all but the first element of a vector
+
+       \identifier{27y} */
+  template<typename T>
+  std::vector<T> vector_tail(const std::vector<T> &v);
+
+  /**  \brief Return all but the last element of a vector
+
+       \identifier{285} */
+  template<typename T>
+  std::vector<T> vector_init(const std::vector<T> &v);
+
   /** \brief Reverse a list
 
       \identifier{1la} */
@@ -526,6 +548,36 @@ namespace casadi {
     return ret;
   }
 
+  template<typename T>
+  std::vector<T> vector_select(const std::vector<T> &v, const std::vector<bool> &s, bool invert) {
+    std::vector<T> ret;
+    casadi_assert(v.size()==s.size(), "Dimension mismatch.");
+    if (invert) {
+      for (casadi_int k=0;k<s.size();++k) {
+        if (!s[k]) ret.push_back(v[k]);
+      }
+    } else {
+      for (casadi_int k=0;k<s.size();++k) {
+        if (s[k]) ret.push_back(v[k]);
+      }
+    }
+    return ret;
+  }
+
+  template<typename T>
+  std::vector<T> vector_tail(const std::vector<T> &v) {
+    std::vector<T> ret;
+    ret.insert(ret.begin(), v.begin()+1, v.end());
+    return ret;
+  }
+
+  template<typename T>
+  std::vector<T> vector_init(const std::vector<T> &v) {
+    std::vector<T> ret;
+    ret.insert(ret.begin(), v.begin(), v.begin()+v.size()-1);
+    return ret;
+  }
+
   template<typename T>
   std::vector<T> reverse(const std::vector<T> &v) {
     std::vector<T> ret(v.size());

casadi/include/casadi/core/casadi_types.hpp

@@ -57,9 +57,10 @@ namespace casadi {
         SOLVER_RET_UNKNOWN,
         SOLVER_RET_LIMITED, // Out of time
         SOLVER_RET_NAN,
-        SOLVER_RET_INFEASIBLE
+        SOLVER_RET_INFEASIBLE,
+        SOLVER_RET_EXCEPTION
     };
-}
+} // namespace casadi
 
 
 #endif // CASADI_TYPES_HPP

casadi/include/casadi/core/code_generator.hpp

@@ -108,6 +108,11 @@ namespace casadi {
         \identifier{27l} */
     casadi_int get_constant(const std::vector<char>& v, bool allow_adding=false);
 
+    /** \brief Get or add a vector<string> constant
+
+        \identifier{27z} */
+    casadi_int get_constant(const std::vector<std::string>& v, bool allow_adding=false);
+
     /** \brief Represent an array constant; adding it when new
 
         \identifier{rz} */
@@ -138,6 +143,11 @@ namespace casadi {
         \identifier{27m} */
     std::string constant(const std::vector<char>& v);
 
+    /** \brief Represent an array constant; adding it when new
+
+        \identifier{280} */
+    std::string constant(const std::vector<std::string>& v);
+
     /** \brief Allocate file scope double read-only memory
 
         \identifier{s2} */
@@ -153,6 +163,10 @@ namespace casadi {
         \identifier{s4} */
     void define_rom_integer(const void* id, casadi_int size);
 
+    /** \brief Setup a callback
+
+        \identifier{27s} */
+    void setup_callback(const std::string& s, const Function& f);
     /** \brief Access file scope integer read-only memory
 
         \identifier{s5} */
@@ -243,6 +257,7 @@ namespace casadi {
     std::string initializer(const std::vector<double>& v);
     std::string initializer(const std::vector<casadi_int>& v);
     std::string initializer(const std::vector<char>& v);
+    std::string initializer(const std::vector<std::string>& v);
 
     /** \brief Sanitize source files for codegen
 
@@ -614,7 +629,12 @@ namespace casadi {
       AUX_MMIN,
       AUX_MMAX,
       AUX_LOGSUMEXP,
-      AUX_SPARSITY
+      AUX_SPARSITY,
+      AUX_BFGS,
+      AUX_ORACLE_CALLBACK,
+      AUX_OCP_BLOCK,
+      AUX_ORACLE,
+      AUX_SCALED_COPY
     };
 
     /** \brief Add a built-in auxiliary function
@@ -657,6 +677,12 @@ namespace casadi {
     void print_vector(std::ostream &s, const std::string& name,
                              const std::vector<double>& v);
 
+    /** \brief  Print string vector to a c file
+
+        \identifier{281} */
+    void print_vector(std::ostream &s, const std::string& name,
+                             const std::vector<std::string>& v);
+
     /** \brief Create a copy operation
 
         \identifier{tt} */
@@ -895,6 +921,7 @@ namespace casadi {
     std::multimap<size_t, size_t> added_double_constants_;
     std::multimap<size_t, size_t> added_integer_constants_;
     std::multimap<size_t, size_t> added_char_constants_;
+    std::multimap<size_t, size_t> added_string_constants_;
     std::map<std::string, std::pair<std::string, std::string> > local_variables_;
     std::map<std::string, std::string> local_default_;
     std::map<const void *, casadi_int> file_scope_double_;
@@ -916,6 +943,7 @@ namespace casadi {
     std::vector<std::vector<double> > double_constants_;
     std::vector<std::vector<casadi_int> > integer_constants_;
     std::vector<std::vector<char> > char_constants_;
+    std::vector<std::vector<std::string> > string_constants_;
 
     // Does any function need thread-local memory?
     bool needs_mem_;
@@ -924,6 +952,7 @@ namespace casadi {
     static size_t hash(const std::vector<double>& v);
     static size_t hash(const std::vector<casadi_int>& v);
     static size_t hash(const std::vector<char>& v);
+    static size_t hash(const std::vector<std::string>& v);
 
     std::string wrapper(const Function& base, const std::string& name);
 

casadi/include/casadi/core/global_options.hpp

@@ -70,6 +70,8 @@ namespace casadi {
 
       static casadi_int start_index;
 
+      static bool julia_initialized;
+
 #endif //SWIG
       // Setter and getter for simplification_on_the_fly
       static void setSimplificationOnTheFly(bool flag) { simplification_on_the_fly = flag; }

casadi/include/casadi/core/mx.hpp

@@ -274,6 +274,11 @@ namespace casadi {
     /// Check if evaluation output
     bool is_output() const;
 
+    /** \brief  Check if a multiple output node
+
+        \identifier{284} */
+    bool has_output() const;
+
     /// Get the index of evaluation output - only valid when is_output() is true
     casadi_int which_output() const;
 
@@ -306,15 +311,23 @@ namespace casadi {
         \identifier{qp} */
     std::vector<MX> primitives() const;
 
+    /// @{
     /** \brief Split up an expression along symbolic primitives
 
         \identifier{qq} */
     std::vector<MX> split_primitives(const MX& x) const;
+    std::vector<SX> split_primitives(const SX& x) const;
+    std::vector<DM> split_primitives(const DM& x) const;
+    /// @}
 
+    /// @{
     /** \brief Join an expression along symbolic primitives
 
         \identifier{qr} */
     MX join_primitives(const std::vector<MX>& v) const;
+    SX join_primitives(const std::vector<SX>& v) const;
+    DM join_primitives(const std::vector<DM>& v) const;
+    /// @}
 
     /// \cond INTERNAL
     /** \brief Detect duplicate symbolic expressions
@@ -655,6 +668,7 @@ namespace casadi {
     static MX convexify(const MX& H, const Dict& opts = Dict());
     static MX stop_diff(const MX& expr, casadi_int order);
     static MX stop_diff(const MX& expr, const MX& var, casadi_int order);
+    static std::vector<MX> difference(const std::vector<MX>& a, const std::vector<MX>& b);
     ///@}
     /// \endcond
 
@@ -836,13 +850,14 @@ namespace casadi {
       return MX::stop_diff(expr, var, order);
     }
 
+    /** \bried Return all elements of a that do not occur in b, preserving order */
+    inline friend std::vector<MX> difference(const std::vector<MX>& a, const std::vector<MX>& b) {
+      return MX::difference(a, b);
+    }
 
 /** @} */
 #endif // SWIG
 
-    /** \bried Return all elements of a that do not occur in b, preserving order */
-    friend std::vector<MX> difference(const std::vector<MX>& a, const std::vector<MX>& b);
-
     /** \brief returns itself, but with an assertion attached
     *
     *  If y does not evaluate to 1, a runtime error is raised

casadi/include/casadi/core/optistack.hpp

@@ -200,6 +200,23 @@ public:
   void set_value(const std::vector<MX>& assignments);
   /// @}
 
+  /// @{
+  /** \brief Set domain of a decision variable
+  *
+  * \param[in] x decision variable
+  * \param[in] type 'real', 'integer' (default: real)
+  *
+  * \verbatim
+  * opti.set_domain(x, "real")
+  * opti.set_domain(x, "integer")
+  * \endverbatim
+
+      \identifier{27t} */
+  void set_domain(const MX& x, const std::string& domain);
+
+  /// @}
+
+
   /// Crunch the numbers; solve the problem
   OptiSol solve();
 
@@ -451,6 +468,11 @@ public:
     OPTI_PAR,  // parameter
     OPTI_DUAL_G // dual
   };
+  enum DomainType {
+    OPTI_DOMAIN_REAL,
+    OPTI_DOMAIN_INTEGER
+  };
+
 
   struct IndexAbstraction {
     IndexAbstraction() : start(0), stop(0) {}
@@ -475,6 +497,7 @@ public:
     casadi_int n;
     casadi_int m;
     VariableType type;
+    DomainType domain;
     casadi_int count;
     casadi_int i;
     casadi_int active_i;

casadi/include/casadi/core/runtime/casadi_nlp.hpp

@@ -66,12 +66,14 @@ struct casadi_nlpsol_detect_bounds_data {
   T1* lam_xu;
 };
 // C-REPLACE "casadi_nlpsol_detect_bounds_data<T1>" "struct casadi_nlpsol_detect_bounds_data"
+// C-REPLACE "casadi_oracle_data<T1>" "struct casadi_oracle_data"
 
 // SYMBOL "nlpsol_data"
 template<typename T1>
 struct casadi_nlpsol_data {
   // Problem structure
   const casadi_nlpsol_prob<T1>* prob;
+  casadi_oracle_data<T1>* oracle;
   // Variable bounds
   T1 *lbz, *ubz;
   // Current primal solution
@@ -151,8 +153,6 @@ void casadi_nlpsol_init(casadi_nlpsol_data<T1>* d, const T1*** arg, T1*** res,
 
 }
 
-// C-REPLACE "fabs" "casadi_fabs"
-
 // SYMBOL "nlpsol_detect_bounds_before"
 template<typename T1>
 int casadi_detect_bounds_before(casadi_nlpsol_data<T1>* d_nlp) {
@@ -194,8 +194,14 @@ int casadi_detect_bounds_before(casadi_nlpsol_data<T1>* d_nlp) {
   for (casadi_int i=0;i<p_bounds->ng;++i) {
     if (p_bounds->is_simple[i]) {
       // Update lbz/ubz
-      T1 lb = (d_nlp->lbg[i]-d_bounds->b[k])/fabs(d_bounds->a[k]);
-      T1 ub = (d_nlp->ubg[i]-d_bounds->b[k])/fabs(d_bounds->a[k]);
+
+      T1 lb = (d_nlp->lbg[i]-d_bounds->b[k])/d_bounds->a[k];
+      T1 ub = (d_nlp->ubg[i]-d_bounds->b[k])/d_bounds->a[k];
+      if (d_bounds->a[k]<0) {
+        T1 tmp = lb;
+        lb = ub;
+        ub = tmp;
+      }
       casadi_int j = p_bounds->target_x[k];
 
       if (lb==d_nlp->lbz[j]) {
@@ -270,5 +276,14 @@ int casadi_detect_bounds_after(casadi_nlpsol_data<T1>* d_nlp) {
         d_nlp->lam_g[d_bounds->target_u[i]-nx] += (d_nlp->lam[i]>0)*d_nlp->lam[i];
     }
   }
+
+  k = 0;
+  for (casadi_int i=0;i<p_bounds->ng;++i) {
+    if (p_bounds->is_simple[i]) {
+      if (d_nlp->lam_g) d_nlp->lam_g[i] /= d_bounds->a[k];
+      k++;
+    }
+  }
+
   return 0;
 }

casadi/include/casadi/core/runtime/casadi_ocp_block.hpp

@@ -0,0 +1,55 @@
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+
+// SYMBOL "ocp_block"
+struct casadi_ocp_block {
+    casadi_int offset_r;
+    casadi_int offset_c;
+    casadi_int rows;
+    casadi_int cols;
+};
+// C-REPLACE "casadi_ocp_block" "struct casadi_ocp_block"
+
+// SYMBOL "unpack_ocp_blocks"
+template<typename T1>
+void casadi_unpack_ocp_blocks(casadi_ocp_block* blocks, const casadi_int* packed) {
+    casadi_int i;
+    casadi_int N = *packed++;
+    for (i=0;i<N;++i) {
+        blocks[i].offset_r = *packed++;
+        blocks[i].offset_c = *packed++;
+        blocks[i].rows = *packed++;
+        blocks[i].cols = *packed++;
+    }
+}
+
+// SYMBOL "ptr_ocp_block"
+template<typename T1>
+void casadi_ptr_ocp_block(casadi_int N, T1** vs, T1* v, const casadi_ocp_block* blocks, int eye) {
+    casadi_int k, offset = 0;
+    for (k=0;k<N;++k) {
+        vs[k] = v+offset;
+        if (eye) {
+        offset += blocks[k].rows;
+        } else {
+        offset += blocks[k].rows*blocks[k].cols;
+        }
+    }
+}

casadi/include/casadi/core/runtime/casadi_oracle.hpp

@@ -0,0 +1,44 @@
+//
+//    MIT No Attribution
+//
+//    Copyright (C) 2010-2023 Joel Andersson, Joris Gillis, Moritz Diehl, KU Leuven.
+//
+//    Permission is hereby granted, free of charge, to any person obtaining a copy of this
+//    software and associated documentation files (the "Software"), to deal in the Software
+//    without restriction, including without limitation the rights to use, copy, modify,
+//    merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+//    permit persons to whom the Software is furnished to do so.
+//
+//    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+//    INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
+//    PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+//    HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+//    OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+//    SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+//
+
+// C-REPLACE "OracleMemory* m;" ""
+
+
+// SYMBOL "oracle_data"
+template<typename T1>
+struct casadi_oracle_data {
+  const T1** arg;
+  T1** res;
+  casadi_int* iw;
+  T1* w;
+
+  void* m;
+};
+
+// C-REPLACE "casadi_oracle_data<T1>" "struct casadi_oracle_data"
+
+// SYMBOL "oracle_init"
+template<typename T1>
+void casadi_oracle_init(casadi_oracle_data<T1>* d, const T1*** arg, T1*** res,
+    casadi_int** iw, T1** w) {
+  d->arg = *arg;
+  d->res = *res;
+  d->iw = *iw;
+  d->w = *w;
+}