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Set primal_infeasibility_solving to False for feasible forward in QPFunction #302

Merged
merged 2 commits into from
Feb 13, 2024
Merged

Set primal_infeasibility_solving to False for feasible forward in QPFunction #302

merged 2 commits into from
Feb 13, 2024

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fabinsch
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For QPFunction, we accept a parameter called structural_feasibility which defaults to True. Based on this, we will either use the class QPFunctionFn or QPFunctionFn_infeas with their corresponding forward and backward methods.

If we decide, that the QPs to solve are structurally feasible, it is consistent to set primal_infeasibility_solving to False.

@jcarpent jcarpent merged commit e0ee3c7 into Simple-Robotics:devel Feb 13, 2024
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@jcarpent jcarpent jcarpent approved these changes

@Bambade Bambade Awaiting requested review from Bambade

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@fabinsch @jcarpent