Index

_

__init__() (leap_c.dynamics.CasadiDynamics method) (leap_c.dynamics.SimDynamics method)

A

ACADOS_MAXITER (leap_c.mpc.AcadosStatus attribute) ACADOS_MINSTEP (leap_c.mpc.AcadosStatus attribute) ACADOS_NAN_DETECTED (leap_c.mpc.AcadosStatus attribute) ACADOS_QP_FAILURE (leap_c.mpc.AcadosStatus attribute)

ACADOS_READY (leap_c.mpc.AcadosStatus attribute) ACADOS_SUCCESS (leap_c.mpc.AcadosStatus attribute) ACADOS_TIMEOUT (leap_c.mpc.AcadosStatus attribute) ACADOS_UNBOUNDED (leap_c.mpc.AcadosStatus attribute) AcadosStatus (class in leap_c.mpc)

C

CasadiDynamics (class in leap_c.dynamics)

create_dynamics_from_mpc() (in module leap_c.dynamics) create_zero_init_state_fn() (in module leap_c.mpc)

D

default_full_mpcparameter (leap_c.mpc.Mpc property) default_p_global (leap_c.mpc.Mpc property) default_p_stagewise (leap_c.mpc.Mpc property) default_sens_mpcparameter (leap_c.mpc.Mpc property) du0_dp_global (leap_c.mpc.MpcOutput attribute), [1]

du0_dx0 (leap_c.mpc.MpcOutput attribute), [1] dvalue_dp_global (leap_c.mpc.MpcOutput attribute), [1] dvalue_du0 (leap_c.mpc.MpcOutput attribute), [1] dvalue_dx0 (leap_c.mpc.MpcOutput attribute) Dynamics (class in leap_c.dynamics)

E

ensure_float64() (leap_c.mpc.MpcParameter method)

G

get_sample() (leap_c.mpc.MpcInput method) (leap_c.mpc.MpcParameter method)

I

initialize_ocp_solver() (in module leap_c.mpc) is_batched() (leap_c.mpc.MpcInput method) (leap_c.mpc.MpcParameter method)

is_model_p_legal() (leap_c.mpc.Mpc method)

L

last_solve_diagnostics() (leap_c.mpc.Mpc method) leap_c.dynamics module leap_c.mpc module

leap_c.nn module leap_c.rl module

M

module leap_c.dynamics leap_c.mpc leap_c.nn leap_c.rl

Mpc (class in leap_c.mpc) MpcInput (class in leap_c.mpc) MpcOutput (class in leap_c.mpc) MpcParameter (class in leap_c.mpc)

N

N (leap_c.mpc.Mpc property)

num_threads_batch_methods (leap_c.mpc.Mpc property)

O

ocp_batch_sensitivity_solver (leap_c.mpc.Mpc property) ocp_batch_solver (leap_c.mpc.Mpc property)

ocp_sensitivity_solver (leap_c.mpc.Mpc property) ocp_solver (leap_c.mpc.Mpc property)

P

p_global (leap_c.mpc.MpcParameter attribute), [1] p_global_dim (leap_c.mpc.Mpc property) p_stagewise (leap_c.mpc.MpcParameter attribute), [1]

p_stagewise_sparse_idx (leap_c.mpc.MpcParameter attribute), [1] parameters (leap_c.mpc.MpcInput attribute), [1] policy() (leap_c.mpc.Mpc method)

Q

Q (leap_c.mpc.MpcOutput attribute), [1]

S

set_discount_factor() (in module leap_c.mpc) set_ocp_solver_initial_condition() (in module leap_c.mpc) set_ocp_solver_iterate() (in module leap_c.mpc) set_ocp_solver_mpc_params() (in module leap_c.mpc) set_ocp_solver_mpc_params_global() (in module leap_c.mpc)

set_ocp_solver_mpc_params_stagewise() (in module leap_c.mpc) set_ocp_solver_to_default() (in module leap_c.mpc) sim_solver (leap_c.dynamics.SimDynamics property) SimDynamics (class in leap_c.dynamics) status (leap_c.mpc.MpcOutput attribute), [1]

T

turn_on_warmstart() (in module leap_c.mpc)

U

u0 (leap_c.mpc.MpcInput attribute), [1] (leap_c.mpc.MpcOutput attribute), [1]

unset_ocp_solver_initial_control_constraints() (in module leap_c.mpc)

V

V (leap_c.mpc.MpcOutput attribute), [1]

X

x0 (leap_c.mpc.MpcInput attribute), [1]