Core API

The main user-facing interfaces of leap-c. Each entry links to its full, type-annotated reference page.

  • AcadosDiffMpcTorch — the central interface: wraps an acados OCP solver as a differentiable PyTorch module.

  • AcadosParameterManager — define and manage the parameters of an acados OCP without touching CasADi/acados internals.

  • collate_torch() — PyTorch default collation plus the leap-c context rule, useful when batching warm-start contexts.

:py:obj:AcadosDiffMpcTorch <leap_c.torch.AcadosDiffMpcTorch>\

PyTorch module for differentiable MPC based on acados.

:py:obj:AcadosParameterManager <leap_c.parameters.AcadosParameterManager>\

acados parameter management.

:py:obj:collate_torch <leap_c.utils.collate.collate_torch>\ (→ Any)

Collate a batch with PyTorch defaults plus leap-c context support.

The complete, auto-generated reference (including developer/internal modules) is available under API Reference.