Converted vdp to lifted newton (not working)
Updated linesearch in SCPgen
SCPgen: added curvature check
Speed improvement in SCPgen
More refactoring of SCPgen
Support for parameters in SCPgen
SCPgen: added parameters to x_ vector
SCPgen: Added parameters to residual function
SCPgen: added d expression for parameters
SCPgen: Added parameters to step expansion function
SCPgen: support for parametric NLPs
SCPgen: Fixed treatment of inequality constraints
SCPgen: Fixed negative gain warning
Shallow water: added state constraints
Shallow water: removed dependency on DL
Fixed bug in MX codegen
Added quick-hack for generation of main function in generated code, #617.
SCPgen: Separated calculation of condensed Jacobian
SCPgen: Separated calculation of condensed Hessian
Refactored SCPgen