Casadi

Changes

Major
- fixed error on bounds on initial and terminal states in `ScenarioBasedMpc`

Minor
- improvements to internal files
- switched to pre-hooks
- fixes to tests
- better type hinting for seed

Changes

Major
- removed support for Python 3.8
- implemented the `ScenarioBasedMpc` wrapper to create MPC controllers based on the Scenario Approach
- added extra args in `Mpc` and `ScenarioBasedMpc` to allow to include or exclude lower and upper bounds on initial and terminal state upon creation
- removed `quad_form` in favour of `casadi.bilin` (which is built in in the library)
- added support for all solvers (previously, only IPOPT, sqpmethod, and a small other few could be instantiated)

Minor
- updates to config files
- updated plotting utilities
- moved from `full` to `toarray`, which appears to be faster
- moved to relative imports

Changes


Major
- method `licq` in `NlpSensitivity` wrapper now includes also the jacobians of the upper and lower bound inequalities
- added methods in `Nlp` to remove bounds on variables and constraints AFTER their creation (still, it is recommended to avoid doing so it not necessary)
- in `Mpc`, added possibility to automatically remove upper and lower bounds on initial states to avoid overconstraining (disabled by default)
- `Solution` object now hosts also the values of the dual variables at the optimal point

Minor
- improved cache handling
- removed usage of slots due to bugs in pickling and deepcopying
- removed some unused methods

Changes

- improved lower and upper bound broadcasting during variable creation
- removed `util/random.py` in favour of `np.random.default_rng`

Changes

- corrected typo in type-hint for solver
- allowing instantiation of more casadi solvers: `ipopt`, `sqpmethod`, `qrqp`, `osqp` are available

Changes

Major
- solved compatibility issues with breaking changes introduced with CasADi 3.6.0

Minor
- added some useful IPOPT options in the examples