Closed bjack205 closed 2 years ago
Updates the projected Newton solver to use QDLDL and eliminates all runtime allocations, resulting in 10x speed improvement for the PN solver. Uses some clever caching tricks to quickly write directly to the sparse matrix vectors.
Updates the projected Newton solver to use QDLDL and eliminates all runtime allocations, resulting in 10x speed improvement for the PN solver. Uses some clever caching tricks to quickly write directly to the sparse matrix vectors.