leap_c.diff_mpc.utils.prepare_solver

Functions

prepare_batch_solver(→ None)	Prepare batch solver for problem instance given by solver_input, starting at ocp_iterate.
prepare_batch_solver_for_backward(→ None)	Prepare the backward batch solver such that the sensitivities can be retrieved.

Module Contents

leap_c.diff_mpc.utils.prepare_solver.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.

leap_c.diff_mpc.utils.prepare_solver.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.