| -tao_pdipm_push_init_lambdai | - parameter to push initial dual variables away from bounds (> 0) | |
| -tao_pdipm_push_init_slack | - parameter to push initial slack variables away from bounds (> 0) | |
| -tao_pdipm_mu_update_factor | - update scalar for barrier parameter (mu) update (> 0) | |
| -tao_pdipm_symmetric_kkt | - Solve non-reduced symmetric KKT system | |
| -tao_pdipm_kkt_shift_pd | - Add shifts to make KKT matrix positive definite |