Bug in ca.jtimes when vector of size 0x1 is used

[david0oo]

Hi,

we found a Casadi bug in:
https://github.com/acados/acados/blob/master/interfaces/acados_template/acados_template/casadi_function_generation.py#L571

if python y.shape = (0,1), then the following line fails:

python y_adj = ca.jtimes(y_expr, ca.vertcat(u, x), y, True)

but Casadi does not throw an exception, acados failed with a Floating Point Exception

[david0oo]

Here is a minimal example:

import casadi as cs

# Working example:
y = cs.SX.sym('y', 3)
ux = cs.SX.sym('ux', 3)
y_expr = 0*ux
expr = cs.jtimes(y_expr, ux, y, True)
print("working value is: ", expr)

# Non working example:
y = cs.SX.sym('y', 0)
y_expr = cs.SX.sym('y_expr', 0)
ux = cs.SX.sym('ux', 3)
expr = cs.jtimes(y_expr, ux, y, True)
print("non working value is: ", expr)