leap_c.diff_mpc.utils.solve
===========================

.. py:module:: leap_c.diff_mpc.utils.solve


Functions
---------

.. autoapisummary::

   leap_c.diff_mpc.utils.solve.solve_with_retry


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

.. py:function:: solve_with_retry(batch_solver: acados_template.acados_ocp_batch_solver.AcadosOcpBatchSolver, initializer: leap_c.diff_mpc.initializer.AcadosDiffMpcInitializer, ocp_iterate: acados_template.acados_ocp_iterate.AcadosOcpFlattenedBatchIterate | None, solver_input: leap_c.diff_mpc.data.AcadosOcpSolverInput) -> tuple[numpy.ndarray, dict[str, float]]

   Solve a batch of problem instances, and retry in case of failure.

   This function prepares the batch solver by loading the iterate, setting the initial conditions,
   and configuring the global and stage-wise parameters. If `p_global` or `p_stagewise` is not
   provided, it will check if the model has default parameters and load them accordingly.

   :param batch_solver: The batch solver to use.
   :param initializer: The initializer used for retries.
   :param ocp_iterate: The iterate to load into the batch solver.
   :param solver_input: Input data for the solver, which includes initial conditions and parameters.

   :returns: The status of each solver (`status != 0` means failure) and statistics of the solving
             process, i.e., `"solving_time"`, `"success_rate"`, and `"retry_rate"`.