Dynamics

class leap_c.dynamics.CasadiDynamics(mpc: Mpc)[source]

Bases: Dynamics

__init__(mpc: Mpc)[source]

class leap_c.dynamics.Dynamics[source]: Bases: ABC

class leap_c.dynamics.SimDynamics(sim: AcadosSim, export_dir: Path | None = None, cleanup: bool = True)[source]

Bases: Dynamics

__init__(sim: AcadosSim, export_dir: Path | None = None, cleanup: bool = True)[source]

property sim_solver: AcadosSimSolver

leap_c.dynamics.create_dynamics_from_mpc(mpc: Mpc, export_dir: None | Path = None, sens_forw=False, dt=None) → Dynamics[source]: Create a dynamics object from an MPC object.