Simple-Robotics / proxsuite

The Advanced Proximal Optimization Toolbox
BSD 2-Clause "Simplified" License
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Fix `mu_update` for `PrimalLDLT` backend #349

Closed fabinsch closed 3 months ago

fabinsch commented 3 months ago

as pointed out in #348, there is currently a mismatch when calling the rank_r_update.

I discussed it with @Bambade, and we propose this PR to fix it, and correct another typo that was found while analyzing the function.

We also add the example from #348 as a new unittest for the PrimalLDLT backend, where we trigger a mu_update.