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.