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  • Casadi algorithmic differentiation (ad)...
    Build efficient optimal control software, with minimal effort. casadi is an it these expression graphs, encapsulated in $$ egin{aligned} dot{x} &= f_{ ext{ode}}(t,x,z,p), qquad x(0) = x_0 \ 0 &= f_{ ext{alg}}(t,x,z,p) end{aligned} $$
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