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Integrator Interface:

TODO: Complete integrator interface

BEFORE MERGE

  • [T] output dict/struct
  • [] Cleanup & Refactor
  • [] add support for parameters in cpp function generation

After MERGE

  • [] generalize integrator class
  • [T] try to compile on Windows

Done

  • fix dependencies

    • travis
  • extend to non native model, i.e. IRK with expl model

  • 2 integrators at the same time

  • minimal MX support

  • IRK support

  • Matlab support

  • Fix ocp_nlp

  • .get_settings

  • add output check

  • move function generation up

  • add cpp generation for all integrator function

    • ERK
      • expl_ode_fun
      • expl_ode_hes
      • expl_vde_for
      • expl_vde_adj
    • IRK
      • impl_ode_fun;
      • impl_ode_fun_jac_x_xdot_z;
      • impl_ode_jac_x_xdot_u_z;
      • impl_ode_hess
    • LIFTED_IRK
      • impl_ode_fun;
      • impl_ode_fun_jac_x_xdot_u
    • LIFTED IRK
  • add logic, which functions to generate for which settings

    • ERK
    • IRK
    • LIFTED IRK
  • TEST!

    • ERK
    • IRK
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