8000 Use `d_mask` in DAQP interface to handle one-sided constraints by FreyJo · Pull Request #1175 · acados/acados · GitHub
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Use d_mask in DAQP interface to handle one-sided constraints #1175

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Merged
merged 3 commits into from
Aug 12, 2024
Merged

Use d_mask in DAQP interface to handle one-sided constraints #1175

merged 3 commits into from
Aug 12, 2024

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FreyJo
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@FreyJo FreyJo commented Jul 29, 2024 •
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See #1174 and #650

darnstrom
darnstrom reviewed Aug 5, 2024
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8000

LGTM! If both the upper and lower bound of a constraint should be ignored, one could set the corresponding sense to "IMMUTABLE" for the solver to completely ignore the corresponding constraint.

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FreyJo commented Aug 9, 2024

Thanks for checking and clarifying @darnstrom !
Brief follow up: Is it safe to assume that the returned multipliers of constraints with DAQP_INF as bounds are zero?

@FreyJo FreyJo requested a review from sandmaennchen August 9, 2024 12:41
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Brief follow up: Is it safe to assume that the returned multipliers of constraints with DAQP_INF as bounds are zero?

Yes! It should be impossible for constraints with DAQP_INF to become active, which yields multipliers that are zero.

@FreyJo FreyJo merged commit f0f474c into acados:master Aug 12, 2024
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@FreyJo FreyJo deleted the daqp_infty branch August 12, 2024 09:09
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@sandmaennchen sandmaennchen Awaiting requested review from sandmaennchen

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