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Dense QP solve always reaches maximum number of iterations only on embedded hardware

1

Hello again! :) I prototyped an algorithm using hpipm's d_dense_qp functionalities in MATLAB/ Simulink, where everything goes according to plan: hpipm requires 2 iterations and outputs 0 as the solver...

d_cond.c: Condensed hessian seems to be lower triangular + is there an option to condense x0? + what is the purpose of not condensing the last stage?

2

I tried out hpipm's condensing routines and it seems as if the output only contains the lower triangular and diagonal elements of the overall hessian. So I had to manually...