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[docs] clarify user-defined functions return scalars #2554

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Apr 10, 2021
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[docs] clarify user-defined functions return scalars #2554

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4 changes: 4 additions & 0 deletions docs/src/manual/nlp.md
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Expand Up @@ -274,6 +274,10 @@ In addition to this list of functions, it is possible to register custom
a function is not needed. Two exceptions are if you want to provide custom
derivatives, or if the function is not available in the scope of the
nonlinear expression.

!!! warning
User-defined functions must return a scalar output. For a work-around, see
[User-defined functions with vector outputs](@ref).

### Automatic differentiation

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