Open zhzhzoo-autra opened 2 years ago
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
r
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You are right that the QP data
randqis normally not stored in the additional row ofRSQrq. 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 therqpart 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