Custom sparse python bindings for the qpSWIFT solver
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qpSWIFT is light-weight sparse Quadratic Programming solver targeted for embedded and robotic applications. It employs Primal-Dual Interioir Point method with Mehrotra Predictor corrector step and Nesterov Todd scaling. For solving the linear system of equations, sparse LDL' factorization is used along with approximate minimum degree heuristic to minimize fill-in of the factorizations. This is a fork of the official qpSWIFT project (https://github.com/qpSWIFT/qpSWIFT) adapted for use with Giskard(py)
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