8000 C: Avoid initializing Hessian explicitly by FreyJo · Pull Request #1565 · acados/acados · GitHub
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C: Avoid initializing Hessian explicitly #1565

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C: Avoid initializing Hessian explicitly #1565

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@FreyJo FreyJo commented Jun 26, 2025 •
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  • Addressed some TODOs in SQP_WFQP
  • cost integration: Now cost scaling happens in dynamics module if cost is integrated, only slack contributions to cost, are always scaled in cost module.
    • fix if cost_scaling != time_step.
    • Implement separate pointers for Hessian of cost and dynamics correctly

@FreyJo FreyJo marked this pull request as draft June 26, 2025 11:44
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cost integration: fix cost_scaling factor; Now cost scaling happens i…
98ca769 
…n dynamics module if cost is integrated, only slack contributions to cost, are always scaled in cost module
@FreyJo FreyJo force-pushed the avoid_init_hess branch from ead00bd to 98ca769 Compare June 26, 2025 12:46
@FreyJo FreyJo force-pushed the avoid_init_hess branch from afa1de0 to 060cfa2 Compare June 29, 2025 13:32
@FreyJo FreyJo marked this pull request as ready for review June 29, 2025 14:49
@FreyJo FreyJo requested review from sandmaennchen and david0oo June 29, 2025 14:49
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@sandmaennchen sandmaennchen Awaiting requested review from sandmaennchen

@david0oo david0oo Awaiting requested review from david0oo

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