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ACADOSQPSolver ​

QP solver of acados: HPIPM (an interior-point method) after partial or full condensing, or DAQP (a dual active-set method for small dense QPs) after full condensing. DAQP is available only in an acados built with it (install_acados!(daqp = true) and ACADOS_INSTALL_DIR); the DyadAcados_jll binaries do not include it. In acados 0.6.0 the DAQP path enforced the control bounds but not the condensed constraints on the state (state bounds and general linear rows), where the SQP stalled at the unconstrained solution with exitflag 3, so DAQP is suitable for problems with control bounds alone

Cases ​

  • PartialCondensingHPIPM

  • FullCondensingHPIPM

  • FullCondensingDAQP

Source ​

dyad
"QP solver of acados: HPIPM (an interior-point method) after partial or full condensing, or DAQP (a dual active-set method for small dense QPs) after full condensing. DAQP is available only in an acados built with it (`install_acados!(daqp = true)` and `ACADOS_INSTALL_DIR`); the DyadAcados_jll binaries do not include it. In acados 0.6.0 the DAQP path enforced the control bounds but not the condensed constraints on the state (state bounds and general linear rows), where the SQP stalled at the unconstrained solution with `exitflag` 3, so DAQP is suitable for problems with control bounds alone"
enum ACADOSQPSolver =
  | PartialCondensingHPIPM
  | FullCondensingHPIPM
  | FullCondensingDAQP

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