Changes

Major

implemented support for discrete variables (see argument discrete in csnlp.Nlp.variable)
implemented new wrapper csnlp.wrappers.PwaMpc for creating model predictive control (MPC) controllers for piecewise affine (PWA) systems. The class takes care of automatically converting the PWA dynamics to a big-M mixed-logic relaxation
renamed csnlp.wrappers.Mpc.set_dynamics to the more informative name csnlp.wrappers.Mpc.set_nonlinear_dynamics
implemented csnlp.wrappers.Mpc.set_linear_dynamics
all dynamics constraints are now generated via casadi.Function.map (in multiple shooting) and casadi.Function.mapaccum (in single shooting) for faster construction time

implemented new examples for mixed-integer optimization problems and optimal control problems
better docstrings and error messages
dynamics functions are no longer saved, after setting them, in the csnlp.wrappers.Mpc class and subclasses