…ode (#1059)

This was missing in #1059 to make
this work in matlab for nsh_0 > 0.
#1056

Compilation with openmp failed after #1057
Added test target with openmp on github actions.

This PR implements two functionalities:

1. the computation of the solution sensitivity with respect to
parameters.
- Usage in Python: Set `ocp.solver_options.with_solution_sens_wrt_params
= True`, call `ocp_solver.eval_solution_sensitivity(,
with_respect_to='params_global')`.
- Demonstrated in
`examples/acados_python/pendulum_on_cart/solution_sensitivities/policy_gradient_example.py`
- Implementation: 
- a) Compute derivative of right hand side of QP wrt parameters
`ocp_nlp_params_jac_compute`
- b) Perform vector Riccati sweep via  `ocp_nlp_common_eval_param_sens`.

2. the computation of the derivative of the optimal cost with respect to
parameters.
- Usage in Python: Set `ocp.solver_options.with_solution_sens_wrt_params
= True`, call `ocp_solver.get_optimal_value_gradient(with_respect_to =
"params_global")`
- Demonstrated in
`examples/acados_python/pendulum_on_cart/solution_sensitivities/value_gradient_example.py`
- Implementation: compute Lagrange gradient of cost function wrt
parameters, new external functions added.

Limitations:
- Parametric sensitivities where constraints depend on parameters not
supported
- Parametric sensitivities only supported with discrete dynamics and
external cost module

---------

Co-authored-by: sandmaennchen <[email protected]>
Co-authored-by: dirk <[email protected]>

- Make including QORE directories conditional: Addresses  #1062
- Replace find_package with modern find_dependency in acadosConfig.cmake
to let acados propagate find_package args like REQUIRED
- Installs acados's own Find*.cmake scripts to let them be found if the
user installs to non-default locations by tweaking ACADOS_INSTALL_DIR
- Remove unused `FindNumpy.cmake`, `FindMatlab.cmake`

---------

Co-authored-by: Jonathan Frey <[email protected]>

* remove dead code
* replace utcnow with now
* get k from HPIPM
* move copy_ocp_nlp_out to common

- add T to `AcadosSimSolver`
- AcadosModel: add time_label, ulabels, xlabels
- improve plot and demonstrate usage in getting started example
- improve CSTR example

---------

Co-authored-by: sandmaennchen <[email protected]>

and fix names `x_labels`, `u_labels` in Python.

* move `simulink_opts` to ocp
* move `ocp_render_templates`, `ocp_formulation_json_dump`,
`__ocp_get_template_list` to ocp, and similar for mocp
* move `get_simulink_default_opts` to utils
* move `ocp_get_default_cmake_builder`, `sim_get_default_cmake_builder`
to builders

Added an output port in the acados_ocp S-function block for the
algebraic states' trajectory, `ztraj`, equivalent to `xtraj`.

Co-authored-by: Leonardo <[email protected]>