[Wave RHO][4/4] Expose supported advanced Acados options

[mickaelbegon]

Note

Wave RHO 4/4 — Draft/WIP. Tracking issue: #1086.

This wave and its decomposition come from an analysis performed by OpenAI Codex. Maintainer review is required before these proposals are considered ready.

Wave RHO context

The overall goal is to upstream generic, application-independent foundations for reliable receding-horizon workflows with IPOPT and Acados: solver-input correctness, supported warm-start grid transfer, explicit window outcomes/diagnostics/hooks, and finally supported solver tuning.

Proposed review/merge order:

1. [Wave RHO][1/4] Fix Acados control-bound scaling and ordering #1075 — Acados control-bound correctness
2. [Wave RHO][2/4] Adapt solutions to new initial-guess grids #1073 — solution-to-initial-guess grid adaptation
3. [Wave RHO][3/4] Preserve receding-horizon outcomes and expose Acados diagnostics #1072 — RHO outcomes, hooks, cyclic shifts, diagnostics, and iterate access
4. [Wave RHO][4/4] Expose supported advanced Acados options #1074 — advanced Acados options

Role of this PR: optional solver-tuning layer after correctness and RHO semantics are established.

Interaction: Code-independent from the other PRs, but intentionally last because it tunes execution rather than defining correctness or orchestration.

All four PRs target master independently; this is an interaction/review order, not a stacked Git dependency.

What changed

• expose supported Acados collocation and integrator controls
• expose Newton tolerance and Jacobian reuse
• expose QP condensation, iteration limits and tolerances
• expose regularization, Levenberg-Marquardt and globalization
• omit optional values until configured
• make option enumeration work with deferred annotations

Why

These options exist in the bundled acados_template version but previously required the unsafe generic option API.

Validation

• pytest -q tests/shard4/test_acados_advanced_options.py
• 2 passed

Scaling/qpscaling and SQP_WITH_FEASIBLE_QP are intentionally not exposed because the bundled Acados version does not support them.

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This change is 

[codecov]

Codecov Report

❌ Patch coverage is 84.33735% with 13 lines in your changes missing coverage. Please review.
✅ Project coverage is 77.94%. Comparing base (89c83a3) to head (db42f07).
⚠️ Report is 8 commits behind head on master.

Files with missing lines	Patch %	Lines
bioptim/interfaces/acados_options.py	84.33%	13 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #1074      +/-   ##
==========================================
+ Coverage   77.26%   77.94%   +0.68%     
==========================================
  Files         196      196              
  Lines       21506    21574      +68     
==========================================
+ Hits        16616    16816     +200     
+ Misses       4890     4758     -132     

Flag	Coverage Δ
unittests	77.94% <84.33%> (+0.68%)	⬆️

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