Alpaqa as casadi plugin

[jgillis]

Hi!

I would like to create a plugin for casadi, that can also be shipped with casadi.
What branch/release should I base my work on?

Are there any drastic API updates in the pipeline that complicate matters?

[tttapa]

Hi Joris,

That would be great!

At the moment, the main branch is quite far behind, so I would recommend using the develop branch.

The problem API defined by alpaqa::TypeErasedProblem should be fairly stable. You can find a bit more information on the Problem formulation page.
The optimal control-specific APIs are not stable yet (e.g. alpaqa::TypeErasedControlProblem), and require a very recent compiler (I would recommend disabling them using -DALPAQA_WITH_OCP=Off).

I do plan on changing the names of the statistics returned by the solvers (e.g. PANOCStats), but this shouldn't cause too many issues.

If you need any help, just let me know and we can discuss further (either online or in person).