Merge pull request SciML#3602 from vyudu/casadi2

feat: CasADiDynamicOptProblem

Author: ChrisRackauckas

.gitignore

@@ -6,3 +6,4 @@ Manifest.toml
 .vscode/*
 docs/src/assets/Project.toml
 docs/src/assets/Manifest.toml
+.CondaPkg

Project.toml

@@ -64,6 +64,7 @@ Unitful = "1986cc42-f94f-5a68-af5c-568840ba703d"
 
 [weakdeps]
 BifurcationKit = "0f109fa4-8a5d-4b75-95aa-f515264e7665"
+CasADi = "c49709b8-5c63-11e9-2fb2-69db5844192f"
 ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
 DeepDiffs = "ab62b9b5-e342-54a8-a765-a90f495de1a6"
 FMI = "14a09403-18e3-468f-ad8a-74f8dda2d9ac"
@@ -72,6 +73,7 @@ LabelledArrays = "2ee39098-c373-598a-b85f-a56591580800"
 
 [extensions]
 MTKBifurcationKitExt = "BifurcationKit"
+MTKCasADiDynamicOptExt = "CasADi"
 MTKChainRulesCoreExt = "ChainRulesCore"
 MTKDeepDiffsExt = "DeepDiffs"
 MTKFMIExt = "FMI"
@@ -86,6 +88,7 @@ BifurcationKit = "0.4"
 BlockArrays = "1.1"
 BoundaryValueDiffEqAscher = "1.1.0"
 BoundaryValueDiffEqMIRK = "1.4.0"
+CasADi = "1.0.6"
 ChainRulesCore = "1"
 Combinatorics = "1"
 CommonSolve = "0.2.4"