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opensim-org / opensim-core

SimTK OpenSim C++ libraries and command-line applications, and Java/Python wrapping.
https://opensim.stanford.edu
Apache License 2.0
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Support the FATROP NLP solver in Moco #3787

Open nickbianco opened 1 month ago

nickbianco commented 1 month ago

Add support for the FATROP solver via the recently added support through CasADi's nlpsol.

Requires:

  1. Adding FATROP as a dependency
  2. Updating the CasADi dependency to a bleeding edge commit
  3. Rearrage problem sparsity structure based on CasADi requirements