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Tjerk Vreeken authored
We change the solver_options API by removing the workaround for IPOPT to pass it options. This behavior changed between CasADi 2 and 3. The workaround makes using solver other than IPOPT harder however, so instead we go back to the old way of just passing through most options directly to CasADi. This commit alo introduces a new option "casadi_solver" for the dictionary returned by solver_options(). The default value is "nlpsol" for backwards compatibility. Another typical option would be "qpsol". It also introduces a new API function "solver_success()" to override what solver return status should be considered succesful, and how to log said status. Closes #1006
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