QP Backends

The native SQP implementation can be instantiated with one of several QP interfaces.

Backend	laOPT type	Interface header
PIQP	laopt::PIQPSolver<Scalar>	laopt/solvers/piqp_interface.hpp
OSQP	laopt::OSQPSolver<Scalar>	laopt/solvers/osqp_interface.hpp
ProxQP	laopt::ProxQPSolver<Scalar>	laopt/solvers/proxqp_interface.hpp
QPALM	laopt::QPALMSolver<Scalar>	laopt/solvers/qpalm_interface.hpp
qpSWIFT	laopt::QPSwiftSolver<Scalar>	laopt/solvers/qpswift_interface.hpp
HPIPM	laopt::HPIPMSolver	laopt/solvers/hpipm_interface.hpp

Each interface translates laOPT’s two-sided general constraints and box bounds into the format expected by the external solver.

Including an interface header is not sufficient by itself. The consuming target must also find and link the corresponding external package. Backend versions and exported CMake target names are controlled by those projects.

HPIPM uses the block structure of multiple-shooting optimal control problems and has a specialized SQP integration.