[Wave RHO] Receding-horizon and Acados integration plan (Codex analysis)

[mickaelbegon]

Important

This is a work-in-progress coordination issue. The wave and its decomposition come from an analysis performed by OpenAI Codex. Every pull request remains Draft/WIP and requires maintainer review and validation.

Overall idea

This wave upstreams generic building blocks identified while analyzing cyclic receding-horizon workflows with IPOPT and Acados. It deliberately excludes application-specific control, stimulation, or pedaling logic.

The intended flow is to:

1. make the bounds sent to Acados correct;
2. provide a supported way to transfer a solution onto a different warm-start grid;
3. make receding-horizon window outcomes, hooks, cyclic shifts, diagnostics, and Acados iterate transfer explicit;
4. expose supported advanced Acados tuning options once the core behavior is stable.

Proposed review and merge order

1. [Wave RHO][1/4] Fix Acados control-bound scaling and ordering #1075 — Acados control-bound correctness. Independent correctness fix and foundation for Acados RHO runs.
2. [Wave RHO][2/4] Adapt solutions to new initial-guess grids #1073 — Solution-to-initial-guess grid adaptation. Generic warm-start transfer foundation; code-independent from [Wave RHO][1/4] Fix Acados control-bound scaling and ordering #1075.
3. [Wave RHO][3/4] Preserve receding-horizon outcomes and expose Acados diagnostics #1072 — RHO outcomes, hooks, cyclic shifts, diagnostics, and iterate access. Core orchestration layer; review after [Wave RHO][1/4] Fix Acados control-bound scaling and ordering #1075 and [Wave RHO][2/4] Adapt solutions to new initial-guess grids #1073 because it interacts conceptually with both.
4. [Wave RHO][4/4] Expose supported advanced Acados options #1074 — Advanced Acados options. Optional tuning layer to review after the core semantics are agreed.

Interaction notes

• [Wave RHO][1/4] Fix Acados control-bound scaling and ordering #1075 and [Wave RHO][2/4] Adapt solutions to new initial-guess grids #1073 can be reviewed in parallel: neither is stacked on the other.
• [Wave RHO][3/4] Preserve receding-horizon outcomes and expose Acados diagnostics #1072 is the center of the wave: it consumes correct solver inputs and supports the warm-start/diagnostic workflow enabled by the first two PRs.
• [Wave RHO][4/4] Expose supported advanced Acados options #1074 is independent at the code level, but belongs last because it tunes execution rather than defining correctness or RHO semantics.
• All four PRs target master independently. The order above is an interaction/review order, not a stacked-branch dependency chain.

All branches were rebased onto the current master on 2026-07-27 and their targeted tests were rerun.