Comments (1)
You are correct, hard inequality constraints are currently not there and would be nice to have. It would also not be too hard to do for the SQP solver because HPIPM already supports this on the QP side.
The main challenge would be to come up with a good interface for specifying box constraints / general constraints and the potential to slack them (as HPIPM does for the linear case).
There is nobody working on this from our side, so your contribution would be welcome.
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