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Why RSQrq is not called RSQ if gradient is not in it? #125

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zhzhzoo-autra opened this issue Sep 28, 2022 · 1 comment

zhzhzoo-autra commented Sep 28, 2022

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giaf commented Nov 11, 2022

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 in there before performing an operation on the whole extended matrix, see e.g. https://github.com/giaf/hpipm/blob/master/ocp_qp/x_ocp_qp_kkt.c#L71
So in a way the rq part only reminds of the presence of this additional work space available, as hinted here https://github.com/giaf/hpipm/blob/master/include/hpipm_d_ocp_qp.h#L58

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