Update to new CasADi Jacobian sparsity interface

opensim-org / opensim-core

SimTK OpenSim C++ libraries and command-line applications, and Java/Python wrapping.

https://opensim.stanford.edu

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Update to new CasADi Jacobian sparsity interface #3801

Open nickbianco opened 3 weeks ago

nickbianco commented 3 weeks ago

CasADi changed how the Jacobian sparsity needs to be provided in a recent version (summarized in this issue). In order to update to the most recent version of CasADi (i.e., in order to use the new FATROP solver), we will need to use this interface.

aymanhab commented 3 weeks ago

Good job digging into this @nickbianco, let me know if you need help upgrading or building

nickbianco commented 3 weeks ago

I have a working fix on this branch: https://github.com/opensim-org/opensim-core/tree/update_casadi_sparsity_detection.

I'll clean it up and make a PR soon.