Parameteric OCP with path constraint and LS cost

[FreyJo]

@jay101

In Acados, however I have to choose partial or full condensing for HPIPM and QPOASES. How can I use this solvers without any condensing to do fare comparison with MATLAB solution?

You are looking for this option:
If you set it to N, there is no condensing happening.

https://docs.acados.org/interfaces/index.html#acados_template.AcadosOcp.AcadosOcpOptions.qp_solver_cond_N

@jay101

On top of that I also compared the solution of “SQP” (fully converged solution) solver in acados with Ipopt obtained in Matlab and they differ.

I guess if they differ much more than the solver precision, it is quite likely that the formulations are not equivalent.
It is hard to say more without looking into the details.

@jay101

I know it’s difficult for you tell without looking at the formulation and I will try to make a minimal formulation that I might be able to share.

Indeed it is.
This would be great, please open another thread for this to keep things structured.