332 	ws->qp_sol = qp_sol_ptr;  in CREATE_OCP_NLP_SQP()
375 	CREATE_OCP_QP_SOL(N, nx, nu, nb, ng, ns, ws->qp_sol, c_ptr);  in CREATE_OCP_NLP_SQP()
376 	c_ptr += ws->qp_sol->memsize;  in CREATE_OCP_NLP_SQP()
429 	struct OCP_QP_SOL *qp_sol = ws->qp_sol;  in SOLVE_OCP_NLP_SQP()  local
551 			blasfeo_dveccp(nu[nn]+nx[nn]+2*ns[ii], nlp_sol->ux+nn, 0, qp_sol->ux+nn, 0);  in SOLVE_OCP_NLP_SQP()
553 			blasfeo_dveccp(nx[nn+1], nlp_sol->pi+nn, 0, qp_sol->pi+nn, 0);  in SOLVE_OCP_NLP_SQP()
555 			blasfeo_dveccp(2*nb[nn]+2*ng[nn]+2*ns[ii], nlp_sol->lam+nn, 0, qp_sol->lam+nn, 0);  in SOLVE_OCP_NLP_SQP()
557 			blasfeo_dveccp(2*nb[nn]+2*ng[nn]+2*ns[ii], nlp_sol->t+nn, 0, qp_sol->t+nn, 0);  in SOLVE_OCP_NLP_SQP()
561 		COMPUTE_RES_OCP_QP(qp, qp_sol, ipm_ws->res_workspace); // gests own workspace ???  in SOLVE_OCP_NLP_SQP()
599 …SYMV_L_LIBSTR(nu[nn]+nx[nn], nu[nn]+nx[nn], 1.0, qp->RSQrq+nn, 0, 0, qp_sol->ux+nn, 0, 1.0, qp->rq…  in SOLVE_OCP_NLP_SQP()
608 					VECEX_SP_LIBSTR(nb[nn], 1.0, qp->idxb[nn], qp_sol->ux+nn, 0, ipm_ws->tmp_nbgM, 0);  in SOLVE_OCP_NLP_SQP()
613 …GEMV_T_LIBSTR(nu[nn]+nx[nn], ng[nn], 1.0, qp->DCt+nn, 0, 0, qp_sol->ux+nn, 0, 0.0, ipm_ws->tmp_nbg…  in SOLVE_OCP_NLP_SQP()
628 				AXPY_LIBSTR(nx[nn+1], -1.0, qp_sol->ux+(nn+1), nu[nn+1], qp->b+nn, 0, qp->b+nn, 0);  in SOLVE_OCP_NLP_SQP()
630 …GEMV_T_LIBSTR(nu[nn]+nx[nn], nx[nn+1], 1.0, qp->BAbt+nn, 0, 0, qp_sol->ux+nn, 0, 1.0, qp->b+nn, 0,…  in SOLVE_OCP_NLP_SQP()
686 			d_expand_sol_ocp2ocp(qp, qp2, qp_sol2, qp_sol, part_cond_ws);  in SOLVE_OCP_NLP_SQP()
693 			d_solve_ocp_qp_ipm(qp, qp_sol, ipm_arg, ipm_ws);  in SOLVE_OCP_NLP_SQP()
701 	blasfeo_print_tran_dvec(nu[nn]+nx[nn]+2*ns[nn], qp_sol->ux+nn, 0);  in SOLVE_OCP_NLP_SQP()
703 	blasfeo_print_tran_dvec(nx[nn+1], qp_sol->pi+nn, 0);  in SOLVE_OCP_NLP_SQP()
705 	blasfeo_print_tran_dvec(2*nb[nn]+2*ng[nn]+2*ns[nn], qp_sol->lam+nn, 0);  in SOLVE_OCP_NLP_SQP()
707 	blasfeo_print_tran_dvec(2*nb[nn]+2*ng[nn]+2*ns[nn], qp_sol->t+nn, 0);  in SOLVE_OCP_NLP_SQP()
714 			blasfeo_daxpy(nu[nn]+nx[nn], 1.0, qp_sol->ux+nn, 0, nlp_sol->ux+nn, 0, nlp_sol->ux+nn, 0);  in SOLVE_OCP_NLP_SQP()
717 			blasfeo_dveccp(nx[nn+1], qp_sol->pi+nn, 0, nlp_sol->pi+nn, 0);  in SOLVE_OCP_NLP_SQP()
719 			blasfeo_dveccp(2*nb[nn]+2*ng[nn], qp_sol->lam+nn, 0, nlp_sol->lam+nn, 0);  in SOLVE_OCP_NLP_SQP()
721 			blasfeo_dveccp(2*nb[nn]+2*ng[nn], qp_sol->t+nn, 0, nlp_sol->t+nn, 0);  in SOLVE_OCP_NLP_SQP()