  Efficient integrators with sensitivity propagation are an essential
ingredient for the numerical solution of optimal control problems. This paper
gives an overview on the acados integrators, their Python interface and
presents a workflow that allows using them with their sensitivities within a
nonlinear programming (NLP) solver interfaced by CasADi. The implementation is
discussed, demonstrated and provided as open-source software. The computation
times of the proposed integrator and its sensitivity computation are compared
to the native CasADi collocation integrator, CVODES and IDAS on different
examples. A speedup of one order of magnitude for simulation and of up to three
orders of magnitude for the forward sensitivity propagation is shown for an
airborne wind energy system model.
