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qpQOASES embedded

CircleCI

This is an unofficial fork of qpOASES QP solver. The starting point was the embedded version of the solver that can be found in ACADO toolkit.

Results of refactoring:

  • Zero static and global variables: all solver core memory is allocated at object creation. This makes possible to have multiple instances running in different threads in the same process.
  • The solver operates only on its own memory. There are zero copies of external data during solver operation.
  • Copying of internal memory during solver execution has been dramatically reduced.
  • Printing is pulled out of the solver. User can provide callbacks to get info during solver execution.
  • Dead and rarely used code has been removed.