MHW-UDS issues

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                                            MHW-UDS

custom_jacobian depends on structure of underlying function

### Following https://github.com/casadi/casadi/discussions/3245 I came across the following problems (using Matlab): I am trying to use the custom_jacobian option. However, if the jacobian of f has structural zeros, then my...

Solving a QP (conic) with qrqp: iter_count after successful optimization set to -1

I use Matlab, the opti helper class and solve a QP ``` OCP = Opti('conic'); ... OCP.solver('qrqp') ``` The iter_count is set to -1, the printed iterations tell me it...

opti.callback has no effect when using worhp

I'm using casadi 3.6.3 via Matlab (OS is Windows), ipopt 3.14.11 and worhp 1.15-0. opti.callback has no effect when using worhp, see the following MWE: ``` clc solver = {'ipopt','worhp'};...