Highlight

• User guide and feature by example list on the acados docs pages 📑

Breaking changes

Python:

• The return type of eval_solution_sensitivity has changed: The function now return a dict with fields sens_x, sens_u, sens_pi, sens_lam, sens_su, sens_sl if the corresponding flag has been set.
• The default types of fields in AcadosModel that might be CasADi symbolics or expressions have changed to [].

What's Changed

• MATLAB: fix globalization related options in legacy interface by @FreyJo in #1374
• Fix globalization timing: include last call in SQP and DDP; fix for SQP_RTI by @FreyJo in #1376
• MOCP template: fix print, remove outdated TODO by @FreyJo in #1379
• Python: optional parametrization of W when reformulating (non)linear least-squares cost as external cost by @sandmaennchen in #1377
• Python: Q-function gradient wrt u by @sandmaennchen in #1380
• Python: allow getting sensitivities wrt. pi, lam, sl, su by @sandmaennchen in #1381
• Python: use [] as default for CasADi expressions consistently by @FreyJo in #1382
• Update Octave installation instructions by @FreyJo in #1384
• Python: improve globalization test by @FreyJo in #1386
• Python/Matlab: More efficient code generation for MOCP models by @sandmaennchen in #1383
• MATLAB: improve comment in example by @sandmaennchen in #1387
• Documentation: User guide and feature by example list by @FreyJo in #1375
• Globalization Matlab Example by @david0oo in #1388
• Simulink: investigated copy elimination, enforce more checks in test by @FreyJo in #1391
• MATLAB: check values in idxbx[_0,_e] and idxbu by @josipkh in #1390

Full Changelog: v0.4.2...v0.4.3