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HSL: more efficient solver for velocity smoothing #2

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francelico opened this issue Apr 13, 2022 · 0 comments
Open

HSL: more efficient solver for velocity smoothing #2

francelico opened this issue Apr 13, 2022 · 0 comments
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enhancement New feature or request

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@francelico
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Our code currently uses the IPOPT solver for velocity smoothing (https://coin-or.github.io/Ipopt/) , which is the default solver packaged in Casadi.

Recently a new version of the solver has been released by HSL (https://www.hsl.rl.ac.uk/ipopt/) claiming up to 3x speedup.

Velocity smoothing appears to take a significant amount of runtime, changing the solver may make a noticeable difference. We may need to re-tune the solver parameters after the change to observe a gain however.

Probably good to start with #1 first to get a way to quantitatively measure any improvement made.
@francelico francelico added the enhancement New feature or request label Apr 13, 2022
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@francelico