  This paper introduces the quadratically-constrained quadratic programming
(QCQP) framework recently added in HPIPM alongside the original
quadratic-programming (QP) framework. The aim of the new framework is
unchanged, namely providing the building blocks to efficiently and reliably
solve (more general classes of) optimal control problems (OCP). The newly
introduced QCQP framework provides full features parity with the original QP
framework: three types of QCQPs (dense, optimal control and tree-structured
optimal control QCQPs) and interior point method (IPM) solvers as well as
(partial) condensing and other pre-processing routines. Leveraging the modular
structure of HPIPM, the new QCQP framework builds on the QP building blocks and
similarly provides fast and reliable IPM solvers.
