# 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).