# FAQ¶

A few frequently asked questions are answered here.

For further questions, we refer to the `acados`

forum

## 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).

`acados`

implements SQP type methods for OCP structured optimization problems.
In contrast to this, `CasADi`

has a general NLP formulation (i.e. without OCP structure) and has a larger variety of solvers available (`IPOPT`

, SQP, …).
Especially, the availability of `IPOPT`

(an interior point method for NLPs) is great for prototyping, which converges easier compared to an SQP method.

`acados`

implements SQP type solvers tailored to OCP structured NLPs, which aim to solve those problems very fast.
The solution time of `acados`

for typical MPC problems is expected to be orders of magnitude faster compared to using `IPOPT`

in `CasADi`

.