Index

A

AcadosDiffMpcCtx (class in leap_c.diff_mpc.function) AcadosDiffMpcFunction (class in leap_c.diff_mpc.function) AcadosDiffMpcInitializer (class in leap_c.diff_mpc.initializer) AcadosDiffMpcSensitivityOptions (in module leap_c.diff_mpc.function)

AcadosDiffMpcTorch (class in leap_c.torch) AcadosOcpSolverInput (class in leap_c.diff_mpc.data) AcadosParameterManager (class in leap_c.parameters.manager) assign_to_ocp() (leap_c.parameters.manager.AcadosParameterManager method) autograd_fun (leap_c.torch.AcadosDiffMpcTorch attribute)

B

backward() (leap_c.autograd.function.DiffFunction method) (leap_c.diff_mpc.function.AcadosDiffMpcFunction method)

batch_iterate() (leap_c.diff_mpc.initializer.AcadosDiffMpcInitializer method) batch_size (leap_c.diff_mpc.data.AcadosOcpSolverInput property) broadcast_default_param() (in module leap_c.parameters.utils)

C

casadi_type (leap_c.parameters.manager.AcadosParameterManager attribute) collate_acados_diff_mpc_ctx() (in module leap_c.utils.collate) collate_acados_flattened_batch_iterate_fn() (in module leap_c.diff_mpc.data) collate_acados_flattened_iterate_fn() (in module leap_c.diff_mpc.data) collate_acados_ocp_solver_input() (in module leap_c.diff_mpc.data) collate_torch() (in module leap_c.utils.collate)

combine_differentiable_parameters_jax() (leap_c.parameters.manager.AcadosParameterManager method) combine_differentiable_parameters_torch() (leap_c.parameters.manager.AcadosParameterManager method) combine_non_differentiable_parameters() (leap_c.parameters.manager.AcadosParameterManager method) create_autograd_function() (in module leap_c.autograd.torch) create_batch_solver() (in module leap_c.diff_mpc.utils.create_solver) create_forward_backward_batch_solvers() (in module leap_c.diff_mpc.utils.create_solver)

D

DEFAULT_N_BATCH_INIT (in module leap_c.diff_mpc.function) DEFAULT_NUM_THREADS_BATCH_SOLVER (in module leap_c.diff_mpc.function) DeleteDirectoryHook (class in leap_c.diff_mpc.utils.delete_directory_hook) diff_mpc_fun (leap_c.torch.AcadosDiffMpcTorch attribute) differentiable_default_flat (leap_c.parameters.manager.AcadosParameterManager property) differentiable_parameter_names (leap_c.parameters.manager.AcadosParameterManager property) differentiable_symbols (leap_c.parameters.manager.AcadosParameterManager property) DiffFunction (class in leap_c.autograd.function)

dir (leap_c.diff_mpc.utils.delete_directory_hook.DeleteDirectoryHook attribute) dtype (leap_c.torch.AcadosDiffMpcTorch attribute) du0_dp_global (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute) du0_dx0 (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute) du_dp_global (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute) dvalue_dp_global (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute) dvalue_du0 (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute) dvalue_dx0 (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute) dx_dp_global (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute)

E

extra_repr() (leap_c.torch.AcadosDiffMpcTorch method)

F

format_diff_mpc_module_extra_repr() (in module leap_c.utils.repr) format_diff_mpc_module_repr() (in module leap_c.utils.repr) format_parameter_manager_repr() (in module leap_c.utils.repr)

format_parameter_sections() (in module leap_c.utils.repr) forward() (leap_c.autograd.function.DiffFunction method) (leap_c.diff_mpc.function.AcadosDiffMpcFunction method) (leap_c.torch.AcadosDiffMpcTorch method)

G

get() (leap_c.parameters.manager.AcadosParameterManager method)

get_sample() (leap_c.diff_mpc.data.AcadosOcpSolverInput method)

I

initializer (leap_c.diff_mpc.function.AcadosDiffMpcFunction attribute)

iterate (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute)

L

leap_c module leap_c.autograd module leap_c.autograd.function module leap_c.autograd.torch module leap_c.diff_mpc module leap_c.diff_mpc.data module leap_c.diff_mpc.function module leap_c.diff_mpc.initializer module leap_c.diff_mpc.utils module leap_c.diff_mpc.utils.create_solver module leap_c.diff_mpc.utils.delete_directory_hook module leap_c.diff_mpc.utils.prepare_solver module

leap_c.diff_mpc.utils.solve module leap_c.parameters module leap_c.parameters.data module leap_c.parameters.manager module leap_c.parameters.utils module leap_c.torch module leap_c.utils module leap_c.utils.collate module leap_c.utils.dependencies module leap_c.utils.repr module LEAPC_COLLATE_FN_MAP (in module leap_c.utils.collate) log (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute)

M

make_ocp_sensitivity_compatible() (in module leap_c.diff_mpc.utils.create_solver) module leap_c leap_c.autograd leap_c.autograd.function leap_c.autograd.torch leap_c.diff_mpc leap_c.diff_mpc.data leap_c.diff_mpc.function leap_c.diff_mpc.initializer leap_c.diff_mpc.utils leap_c.diff_mpc.utils.create_solver leap_c.diff_mpc.utils.delete_directory_hook leap_c.diff_mpc.utils.prepare_solver leap_c.diff_mpc.utils.solve leap_c.parameters leap_c.parameters.data leap_c.parameters.manager leap_c.parameters.utils leap_c.torch leap_c.utils leap_c.utils.collate leap_c.utils.dependencies leap_c.utils.repr

N

N_horizon (leap_c.parameters.manager.AcadosParameterManager attribute) n_segments() (in module leap_c.parameters.utils) needs_input_grad (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute)

non_differentiable_default_flat (leap_c.parameters.manager.AcadosParameterManager property) non_differentiable_parameter_names (leap_c.parameters.manager.AcadosParameterManager property) non_differentiable_symbols (leap_c.parameters.manager.AcadosParameterManager property)

O

ocp (leap_c.diff_mpc.function.AcadosDiffMpcFunction attribute)

P

p_global (leap_c.diff_mpc.data.AcadosOcpSolverInput attribute) p_stagewise (leap_c.diff_mpc.data.AcadosOcpSolverInput attribute) p_stagewise_sparse_idx (leap_c.diff_mpc.data.AcadosOcpSolverInput attribute) parameter_manager (leap_c.torch.AcadosDiffMpcTorch attribute)

parameters (leap_c.parameters.manager.AcadosParameterManager attribute) ParamSplits (in module leap_c.parameters.utils) prepare_batch_solver() (in module leap_c.diff_mpc.utils.prepare_solver) prepare_batch_solver_for_backward() (in module leap_c.diff_mpc.utils.prepare_solver)

R

register_parameter() (leap_c.parameters.manager.AcadosParameterManager method)

require_jax() (in module leap_c.utils.dependencies) require_torch() (in module leap_c.utils.dependencies)

S

sensitivity() (leap_c.diff_mpc.function.AcadosDiffMpcFunction method) single_iterate() (leap_c.diff_mpc.initializer.AcadosDiffMpcInitializer method) (leap_c.diff_mpc.initializer.ZeroDiffMpcInitializer method)

solve_with_retry() (in module leap_c.diff_mpc.utils.solve) solver_input (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute) status (leap_c.diff_mpc.function.AcadosDiffMpcCtx attribute)

T

TO_ACADOS_SOLVER_GRADOPTS (in module leap_c.diff_mpc.function)

torch (in module leap_c.autograd.torch) (in module leap_c.torch)

U

u0 (leap_c.diff_mpc.data.AcadosOcpSolverInput attribute)

V

validate_forward_inputs() (in module leap_c.diff_mpc.data)

X

x0 (leap_c.diff_mpc.data.AcadosOcpSolverInput attribute)

Z

zero_iterate (leap_c.diff_mpc.initializer.ZeroDiffMpcInitializer attribute)

ZeroDiffMpcInitializer (class in leap_c.diff_mpc.initializer)