Gianluca Frison

You are right that the QP data `r` and `q` is normally not stored in the additional row of `RSQrq`. However, internally for performance reasons these vectors may be copied...

Can you give some more details so I can reproduce the issue? E.g. branch, make/cmake, TARGET, LA, MF, BLASFEO_REF_API, OS. And equally importantly which symbol is undefined and which triangular...

Indeed it looked like some dtrmm routines were missing. Now the missing ones are implemented using callbacks to reference code https://github.com/giaf/blasfeo/commit/3f4e7f51bda234b9302bcf3dbec259101f724797 If performance of some of these routines is a...

Hi there, I don't have direct experience with that but in principle BLASFEO and HPIPM have been designed to be as much as possible self contained and with low requirements...

Thanks for reporting the issue and giving a minimal example. The issue was there also for sandy-bridge and core targets, it should now be fixed https://github.com/giaf/blasfeo/commit/3674fe41c995890c9baab236004e623f2a6999af

It's difficult to say without seeing the problem formulation you are using. I assume that the plots above are the solution of a single QP, and not the results of...

Is the amplitude of the states deviation around the final node affected by how much you crank up the terminal cost, right? In theory to avoid such effect you need...

Well, it is not supposed to do so. Can you give some more detail about the hardware, OS, compilation flags and maybe share a minimal example such that I can...

The issue is in the problem formulation and comes from the fact that HPIPM expects the matrices to be in column-major, so if you write `static double gh[4] = {-1,2,1,1};`...

Hi, it seems that the issue is caused by the fact that H is rank deficient (two eigenvalues are zero) so the problem is not strictly convex, if you put...