Simulating MJPs many times with different parameters as inner loop

[lmiq]

I cannot go deeply in your code to see if this makes sense, but maybe this thread is useful to give you insights:

Define data-dependent function, various ways

This is a topic that is frequently raised here (I have asked this before). The problem is that of defining a function that will be input as a parameter for a solver, but the function depends on data while the function call inside the solver does not have a field to accept the data. Usually, the first try of a new programmer is to set the data on global variables, which is very detrimental to performance. Soon one finds out that if one declares the data as a constant global the performance is goo…