# FAQ¶

## What is the difference between `acados`

and `ACADO`

?¶

`ACADO`

was heavily based on code-generation, in `acados`

code-generation
is used only for problem function derivatives.

In order to maximize performance `acados`

is using `BLASFEO`

, a basic linear algebra implementation with hand-optimized kernels for different CPU architectures.

## What is the difference between `acados`

and `CasADi`

?¶

Completely different.

`CasADi`

is typically used by `acados`

as a front-end to state nonlinear problem functions needed formulate optimal control problems (OCP) and Moving Horizon Estimation problems (MHE).