Switch between solvers in multi precision

[geoffroyleconte]

• add sp2 (Float64) and sp3 (Float128) to choose the solver to use in multi-precision (default to nothing to keep sp)
• change starting point when using QP refinement
• remove iconf from input parameters (now tuned directly in the arguments of ripqp)
• add perturb parameter

[codecov[bot]]

Codecov Report

Merging #184 (0d11db0) into main (34c2425) will decrease coverage by 0.49%. The diff coverage is 74.48%.

@@            Coverage Diff             @@
##             main     #184      +/-   ##
==========================================
- Coverage   87.53%   87.03%   -0.50%     
==========================================
  Files          38       38              
  Lines        2680     2739      +59     
==========================================
+ Hits         2346     2384      +38     
- Misses        334      355      +21     

Impacted Files	Coverage Δ
src/iterations/regularization.jl	53.03% <0.00%> (+4.54%)	:arrow_up:
src/iterations/solvers/Newton/K3Krylov.jl	93.58% <ø> (ø)
src/iterations/solvers/Newton/K3SKrylov.jl	95.52% <ø> (ø)
src/iterations/solvers/Newton/K3SStructured.jl	91.48% <ø> (ø)
src/iterations/solvers/Newton/K3_5Krylov.jl	95.23% <ø> (ø)
src/iterations/solvers/Newton/K3_5Structured.jl	91.39% <ø> (ø)
src/iterations/solvers/augmented/K2LDLDense.jl	94.87% <ø> (ø)
src/iterations/solvers/augmented/K2Structured.jl	90.38% <ø> (ø)
src/iterations/solvers/augmented/K2_5Krylov.jl	95.65% <ø> (ø)
src/iterations/solvers/augmented/K2_5Structured.jl	96.49% <ø> (ø)
... and 16 more

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