• Tjerk Vreeken's avatar
    Do not use variables for min/max of path goals · b3f098ed
    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
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