Revise duality gap check

[govindchari]

Use abs(pobj - dobj) for the duality gap (with safe_div scaling by k) instead of s^T z.

[github-actions]

Download Benchmark Artifacts

Benchmark Summary

Problems Solved

Dataset	Main Solved	Diff Solved	Main Iters	Diff Iters	Main IR Iters	Diff IR Iters
cutest	🟢 43 / 62	40 / 62	811	🟢 807	1558	1558
misc	1 / 3	1 / 3	15	15	2	2
mm	🟢 136 / 138	131 / 138	🟢 2202	2211	4082	🟢 4080
mpc	🟢 63 / 64	62 / 64	🟢 474	488	🟢 541	554

Differences in Solved Problems

• Main additionally solved: CLEUVEN6, CLEUVEN7, LEUVEN1, LISWET1, LISWET12, LISWET7, LISWET8, QPILOTNO, dcMotor_6

Iteration Regressions (diff took more iterations)

• CVXQP1_M: diff=14, main=13
• CVXQP3_M: diff=18, main=17
• DPKLO1: diff=1, main=0
• HS52: diff=1, main=0
• LISWET10: diff=78, main=68
• LISWET9: diff=95, main=91
• QPCBOEI2: diff=27, main=26
• dcMotor_1: diff=8, main=7
• dcMotor_2: diff=9, main=8
• dcMotor_3: diff=11, main=8
• dcMotor_5: diff=12, main=9
• springMass_1: diff=12, main=10
• tripleInvertedPendulum_1: diff=9, main=7
• tripleInvertedPendulum_2: diff=9, main=7
• tripleInvertedPendulum_3: diff=10, main=8

Iteration Improvements (diff took fewer iterations)

• RDW2D51U: diff=4, main=6
• RDW2D52U: diff=4, main=6
• LISWET11: diff=56, main=58
• LISWET2: diff=8, main=10
• LISWET3: diff=9, main=10
• LISWET6: diff=8, main=10
• QCAPRI: diff=38, main=40
• QFORPLAN: diff=24, main=25
• aircraft_11: diff=10, main=11
• aircraft_12: diff=10, main=11

IR Iteration Regressions (diff used more IR iterations)

• dcMotor_3: diff=34, main=31
• dcMotor_5: diff=68, main=58

IR Iteration Improvements (diff used fewer IR iterations)

• QFORPLAN: diff=187, main=189

[github-actions]

Download Benchmark Artifacts

Benchmark Summary

Problems Solved

Dataset	Main Solved	Diff Solved	Main Iters	Diff Iters	Main IR Iters	Diff IR Iters
cutest	🟢 43 / 62	40 / 62	811	🟢 807	1558	1558
misc	1 / 3	1 / 3	15	15	2	2
mm	🟢 136 / 138	131 / 138	🟢 2202	2211	4082	🟢 4080
mpc	🟢 63 / 64	62 / 64	🟢 474	488	🟢 541	554

Differences in Solved Problems

• Main additionally solved: CLEUVEN6, CLEUVEN7, LEUVEN1, LISWET1, LISWET12, LISWET7, LISWET8, QPILOTNO, dcMotor_6

Iteration Regressions (diff took more iterations)

• CVXQP1_M: diff=14, main=13
• CVXQP3_M: diff=18, main=17
• DPKLO1: diff=1, main=0
• HS52: diff=1, main=0
• LISWET10: diff=78, main=68
• LISWET9: diff=95, main=91
• QPCBOEI2: diff=27, main=26
• dcMotor_1: diff=8, main=7
• dcMotor_2: diff=9, main=8
• dcMotor_3: diff=11, main=8
• dcMotor_5: diff=12, main=9
• springMass_1: diff=12, main=10
• tripleInvertedPendulum_1: diff=9, main=7
• tripleInvertedPendulum_2: diff=9, main=7
• tripleInvertedPendulum_3: diff=10, main=8

Iteration Improvements (diff took fewer iterations)

• RDW2D51U: diff=4, main=6
• RDW2D52U: diff=4, main=6
• LISWET11: diff=56, main=58
• LISWET2: diff=8, main=10
• LISWET3: diff=9, main=10
• LISWET6: diff=8, main=10
• QCAPRI: diff=38, main=40
• QFORPLAN: diff=24, main=25
• aircraft_11: diff=10, main=11
• aircraft_12: diff=10, main=11

IR Iteration Regressions (diff used more IR iterations)

• dcMotor_3: diff=34, main=31
• dcMotor_5: diff=68, main=58

IR Iteration Improvements (diff used fewer IR iterations)

• QFORPLAN: diff=187, main=189