Enable common subexpression elimination of casadi functions

ami-iit / adam

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

https://adam-docs.readthedocs.io/en/latest/

BSD 3-Clause "New" or "Revised" License

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Enable common subexpression elimination of casadi functions #86

Closed FabioBergonti closed 2 months ago

FabioBergonti commented 2 months ago

Enable common subexpression elimination by default to eliminate redundant computations efficiently. This feature was introduced in CasADi 3.6. I changed the minimum supported version of Casadi to v3.6