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Feature/hard inequality constraints #35
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905ab69
Initial work on hard inequality constraints.
adamheins cbdb5e7
Remove box constraint API (for now).
adamheins 2a8577b
Separate inequalityConstraintsSSE from equalityConstraintsSSE.
adamheins 8455ccd
Clean up: formatting, comments, etc.
adamheins ba0a3df
Fix line endings.
adamheins 53579c1
Fix line endings take 2.
adamheins 8047e3a
Fix arrangement of constraint matrices, reduce data copying.
adamheins 0f2cc27
Handle implications of equality constraint projection on the inequality
adamheins 0e28f67
Prelimary interface for HPIPM slack variables.
adamheins ba7c5a2
Add new tests for inequality constraints.
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I think they should be stacked without the zeros, the size of x, the rhs dimension of C should not change:
C = [[C_eq],
[C_inq]]
same for D
I would suggest to load them into the final matrix directly though
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Yep, you're right. By loading them into the final matrix directly, do you mean I should avoid having the intermediate
C_eq
andC_ineq
matrices and just build theC_con
matrix directly from the constraint objects (same forD
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Exactly, we should avoid copying around the data too much. Ideally, if only one of the constraint types is used, we just assign the pointers and don't need a copy at all.