leap_c.diff_mpc.initializer¶

Provides logic for initializing AcadosDiffMpc.

Classes¶

`AcadosDiffMpcInitializer`	Abstract base class for initializing an AcadosDiffMpc.
`ZeroDiffMpcInitializer`	An initializer that always returns an iterate with all values set to zero.

Module Contents¶

class leap_c.diff_mpc.initializer.AcadosDiffMpcInitializer[source]¶

Bases: 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.

batch_iterate(solver_input: leap_c.diff_mpc.data.AcadosOcpSolverInput) → acados_template.acados_ocp_iterate.AcadosOcpFlattenedBatchIterate[source]¶

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.

Parameters:: 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.

abstractmethod single_iterate(solver_input: leap_c.diff_mpc.data.AcadosOcpSolverInput) → acados_template.acados_ocp_iterate.AcadosOcpFlattenedIterate[source]¶

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

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

Parameters:: solver_input – An input object containing the initial conditions and parameters for the problem to solve.
Returns:: An iterate object representing the initial guess.

class leap_c.diff_mpc.initializer.ZeroDiffMpcInitializer(ocp: acados_template.acados_ocp.AcadosOcp)[source]¶

Bases: AcadosDiffMpcInitializer

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

single_iterate(solver_input: leap_c.diff_mpc.data.AcadosOcpSolverInput) → acados_template.acados_ocp_iterate.AcadosOcpFlattenedIterate[source]¶

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

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

Parameters:: solver_input – An input object containing the initial conditions and parameters for the problem to solve.
Returns:: An iterate object representing the initial guess.

zero_iterate¶