{"action":"opened","issue":{"url":"https://api.github.com/repos/acados/acados/issues/9","repository_url":"https://api.github.com/repos/acados/acados","labels_url":"https://api.github.com/repos/acados/acados/issues/9/labels{/name}","comments_url":"https://api.github.com/repos/acados/acados/issues/9/comments","events_url":"https://api.github.com/repos/acados/acados/issues/9/events","html_url":"https://github.com/acados/acados/issues/9","id":181879711,"number":9,"title":"condensing => partial condensing","user":{"login":"giaf","id":1334258,"avatar_url":"https://avatars.githubusercontent.com/u/1334258?v=3","gravatar_id":"","url":"https://api.github.com/users/giaf","html_url":"https://github.com/giaf","followers_url":"https://api.github.com/users/giaf/followers","following_url":"https://api.github.com/users/giaf/following{/other_user}","gists_url":"https://api.github.com/users/giaf/gists{/gist_id}","starred_url":"https://api.github.com/users/giaf/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/giaf/subscriptions","organizations_url":"https://api.github.com/users/giaf/orgs","repos_url":"https://api.github.com/users/giaf/repos","events_url":"https://api.github.com/users/giaf/events{/privacy}","received_events_url":"https://api.github.com/users/giaf/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2016-10-09T10:31:20Z","updated_at":"2016-10-09T10:31:20Z","closed_at":null,"body":"I have a few comments on the condensing interface.\r\n\r\nFirst of all, I would suggest to substitute condensing with partial (block) condensing. This is because partial condensing is more flexible, as condensing is a special case with N=1. And partial condensing could be coupled also with sparse solvers, instead of only qpOASES.\r\n\r\nIn this framework, it would make sense to consider both the condensing_in and condensing_out as OCP QPs.\r\n\r\nFurthermore, there can be several condensing algorithms (actually there are at least 3 with different complexity), so I would suggest to keep the condensing workspace more generic, as just a pointer to void. This would allow for the use of different condensing / partial condensing algorithms (something similar to the QP solvers)."}}
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