leap_c.diff_mpc.initializer
===========================

.. py:module:: leap_c.diff_mpc.initializer

.. autoapi-nested-parse::

   Provides logic for initializing AcadosDiffMpc.



Classes
-------

.. autoapisummary::

   leap_c.diff_mpc.initializer.AcadosDiffMpcInitializer
   leap_c.diff_mpc.initializer.ZeroDiffMpcInitializer


Module Contents
---------------

.. py:class:: AcadosDiffMpcInitializer

   Bases: :py:obj:`abc.ABC`


   Abstract base class for initializing an AcadosDiffMpc.

   This class defines the interface for different initialization strategies
   for `AcadosDiffMpc` instances. Subclasses must implement the
   `single_iterate` method but can also overwrite the `batch_iterate` method
   for higher efficiency.


   .. py:method:: batch_iterate(solver_input: leap_c.diff_mpc.data.AcadosOcpSolverInput) -> acados_template.acados_ocp_iterate.AcadosOcpFlattenedBatchIterate

      Generates a batch of initial iterates for a batch of problem instances.

      This method uses the `single_sample` method to generate an initial
      iterate for each OCP in the batch.

      :param solver_input: An `AcadosOcpSolverInput` object containing the inputs for
                           the batch of OCPs.

      :returns: A batched iterate object, containing one iterate object for each problem instance in
                the input batch.



   .. py:method:: single_iterate(solver_input: leap_c.diff_mpc.data.AcadosOcpSolverInput) -> acados_template.acados_ocp_iterate.AcadosOcpFlattenedIterate
      :abstractmethod:


      Abstract method to generate an initial iterate for a single problem instance.

      Subclasses must implement this method to provide a specific
      initialization strategy.

      :param solver_input: An input object containing the initial
                           conditions and parameters for the problem to solve.

      :returns: An iterate object representing the initial guess.



.. py:class:: ZeroDiffMpcInitializer(ocp: acados_template.acados_ocp.AcadosOcp)

   Bases: :py:obj:`AcadosDiffMpcInitializer`


   An initializer that always returns an iterate with all values set to zero.


   .. py:method:: single_iterate(solver_input: leap_c.diff_mpc.data.AcadosOcpSolverInput) -> acados_template.acados_ocp_iterate.AcadosOcpFlattenedIterate

      Abstract method to generate an initial iterate for a single problem instance.

      Subclasses must implement this method to provide a specific
      initialization strategy.

      :param solver_input: An input object containing the initial
                           conditions and parameters for the problem to solve.

      :returns: An iterate object representing the initial guess.



   .. py:attribute:: zero_iterate