Release 0.7.0 · nicolapiccinelli/libmpc

Added logger verbosity management via environment variable MPCXX_LOG_LEVEL_OVERRIDE
In Python bindings added the possibility to set the optimization problem parameters, to retrieve the optimal sequence and to set horizon slice
Reduced memory footprint in the non-linear mpc
Added Python script for benchmarking the non-linear and linear mpc

Pybind11 dependency updated to version 2.12.0 to support numpy 2
When an element of the optimization vector from the previous iteration violates the bounds, it is overwritten with the value in the middle of the bounds
Breaking change: The enum Logger::log_level has been renamed to Logger::LogLevel
Breaking change: The enum Logger::log_type has been renamed to Logger::LogType
Breaking change: The enum constraints_type has been renamed to ConstraintsType

Fixed IMPC::isControlHorizonSliceValid() and IMPC::isPredictionHorizonSliceValid(); before was not possible to set a slice where the start+end was bigger than the horizon
Fixed possibly wrong initialization when warm start is disabled. The optimization vector was initialized with the first previous solution, which, however, might not respect some of the boundaries
Fixed undefined behaviour in case Tineq and/or Teq were set to zero, now the user-defined constraints are not evaluated in such a case

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