-
Tjerk Vreeken authored
Using variables for the min/max series of path goals resulted in (at least) quadratic constraints. These min/max series variables had equal bounds, and most solvers remove these variables in the preprocessor of the optimization. So although there was no problem for e.g. IPOPT, it was not possible for the user or CasADi to easily detect whether the problem was linear. As a concrete example, it was not possible to use CLP (a linear solver), because a Hessian check in CasADi would fail. Furthermore, there might be solvers that we want to use that do not (by default) support the elimination of variables with equal bounds. Instead of using variables, we can instead specify the min/max series as additional constant inputs. Fixes #1005
b3f098ed