leap_c.diff_mpc.utils.prepare_solver
====================================

.. py:module:: leap_c.diff_mpc.utils.prepare_solver


Functions
---------

.. autoapisummary::

   leap_c.diff_mpc.utils.prepare_solver.prepare_batch_solver
   leap_c.diff_mpc.utils.prepare_solver.prepare_batch_solver_for_backward


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

.. py:function:: prepare_batch_solver(batch_solver: acados_template.acados_ocp_batch_solver.AcadosOcpBatchSolver, ocp_iterate: acados_template.acados_ocp_iterate.AcadosOcpFlattenedBatchIterate, solver_input: leap_c.diff_mpc.data.AcadosOcpSolverInput) -> None

   Prepare batch solver for problem instance given by solver_input, starting at ocp_iterate.

   Also caches the last call, such that repeated calls to this do not incur unnecessary cost by
   preparing a batch solver multiple times with the same inputs.


.. py:function:: prepare_batch_solver_for_backward(batch_solver: acados_template.acados_ocp_batch_solver.AcadosOcpBatchSolver, ocp_iterate: acados_template.acados_ocp_iterate.AcadosOcpFlattenedBatchIterate, solver_input: leap_c.diff_mpc.data.AcadosOcpSolverInput) -> None

   Prepare the backward batch solver such that the sensitivities can be retrieved.

   Also caches the last call, such that repeated calls to this do not incur unnecessary cost by
   preparing a batch solver multiple times with the same inputs.