[Ipopt] sparse Hessian

sebastien lengagne sebastien.lengagne at aist.go.jp
Mon Aug 16 21:30:20 EDT 2010

Hi all,

I am currently using IPOPT to solve optimization problem in order to 
generate motions for humanoid robot.
I use the hessian_approximation, because I cannot compute the exact Hessian.
However, my Hessian is sparse ( around 10% of nonzero values).
Can I use the hessian_approximation implemented with IPOPT and define 
the nonzero values of the Hessian ?

If I cannot, I will implement a sparse BFGS.
Does anybody have reference paper about this work ?

thank you

Sébastien LENGAGNE, Ph.D
CNRS-AIST JRL(Joint Robotics Laboratory), UMI3218/CRT
AIST Central 2, 1-1-1 Umezono, Tsukuba, 305-8568 JAPAN
tel : +81-29-8626508
fax : +81-29-8626507
mail : sebastien.lengagne at aist.go.jp
website : http://staff.aist.go.jp/sebastien.lengagne

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