Introduction of the CasADi derivative backend broke the hSAD derivative backend. The (pure Python) hSAD derivative backend should be reintroduced as it offers very favourable properties in terms of mesh iteration initialisation in comparison to the CasADi backend.
To do this successfully:
[ ] Port old hSAD derivative backend code across to main branch.
[ ] Upgrade hSAD derivative backend to use CyIpopt >1.0.0 API.
[x] Replace default requirement for using sym.Symbol to specify symbolic functions with pycollo.Symbol (which can hand off to a Pycollo object or ca.SX.sym, derivative backend dependent).
Introduction of the CasADi derivative backend broke the hSAD derivative backend. The (pure Python) hSAD derivative backend should be reintroduced as it offers very favourable properties in terms of mesh iteration initialisation in comparison to the CasADi backend.
To do this successfully:
mainbranch.sym.Symbolto specify symbolic functions withpycollo.Symbol(which can hand off to a Pycollo object orca.SX.sym, derivative backend dependent).