I’m wondering of the storage order of the
For example the function
void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in, int stage, char *field, void *value); sets various matrices that are passed as a void* pointer to the value parameter.
From the example in https://github.com/acados/acados/blob/master/examples/c/ocp_qp.c I can’t really tell if it is row or column major. However, the call maps directly to a HPIPM call, where the latter’s documentation states that its using columns major.
Can you approve my assumption that this acados interface is column major or can you point me to any resource regarding that topic?