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Feature/hard inequality constraints#35

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adamheins wants to merge 10 commits intoleggedrobotics:mainleggedrobotics/ocs2:mainfrom utiasDSL:feature/hard-inequality-constraintsutiasDSL/ocs2:feature/hard-inequality-constraintsCopy head branch name to clipboard

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Commits on May 5, 2022

• Initial work on hard inequality constraints.

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• Remove box constraint API (for now).

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• Separate inequalityConstraintsSSE from equalityConstraintsSSE.

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Commits on May 6, 2022

• Clean up: formatting, comments, etc.

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• Fix line endings.

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• Fix line endings take 2.

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Commits on Jul 19, 2022

• Fix arrangement of constraint matrices, reduce data copying.

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Commits on Jul 20, 2022

• Handle implications of equality constraint projection on the inequality

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• Prelimary interface for HPIPM slack variables.

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• Add new tests for inequality constraints.

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