affine_mpc

affine_mpc is a library for model predictive control using discrete-time affine models, with C++ and Python interfaces. It is designed to support real-time control and rapid research prototyping with a focused set of common costs and constraints, along with live parameter updates.

Statement of Need

Researchers and engineers often need an MPC tool that sits between low-level QP assembly and large general-purpose control frameworks. affine_mpc aims to lower the barrier to entry for developing MPC controllers by reducing the amount of low-level problem assembly needed for common affine MPC workflows. affine_mpc focuses on discrete-time affine MPC problems with optional costs and constraints, efficient repeated solves, and workflows that support both experimentation in Python and integration in C++.

Highlights

Condensed and sparse MPC formulations behind a common interface
Move-blocking, linear interpolation, and B-spline input parameterizations
Optional input cost, state bounds, input bounds, and slew-rate constraints
Efficient OSQP-backed updates when the QP sparsity pattern is unchanged
Binary .npz logging via MPCLogger for plotting and post-run analysis

Documentation

The primary documentation lives at https://byu-rad-lab.github.io/affine_mpc/.

The Markdown source for the documentation lives in docs/.

Core C++ sources live under src/ and include/, Python bindings and package sources live under python/, and example workflows live under examples/.

Important Usage Notes

Fully configure the model, limits, weights, and references before calling initializeSolver()
OSQP sparsity is fixed at initialization; later updates must not introduce new nonzero structure
If a model coefficient or cost weight may become nonzero later, initialize with that structure already present

Community Standards

Contributing guide: CONTRIBUTING.md
Code of conduct: CODE_OF_CONDUCT.md
Citation metadata: CITATION.cff

Citation

If you use affine_mpc in research, please cite the project using the metadata in CITATION.cff.

License

This project is licensed under the BSD 3-Clause License. See LICENSE for details.

License
- OSI Approved :: BSD License
Operating System
- OS Independent
Programming Language
- Python :: 3

Release files for affine-mpc 0.1.1

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Built distributions (wheels)

Table of built distributions (wheels) for affine-mpc 0.1.1
File	Interpreter	ABI	Platform	Reset
affine_mpc-0.1.1-cp314-cp314-win_amd64.whl 559.1 kB May 19, 2026	CPython 3.14	CPython 3.14	Windows x86-64	Details
affine_mpc-0.1.1-cp314-cp314-musllinux_1_2_x86_64.whl 1.5 MB May 19, 2026	CPython 3.14	CPython 3.14	Linux musl 1.2+ x86-64	Details
affine_mpc-0.1.1-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 484.5 kB May 19, 2026	CPython 3.14	CPython 3.14	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
affine_mpc-0.1.1-cp314-cp314-macosx_11_0_arm64.whl 325.4 kB May 19, 2026	CPython 3.14	CPython 3.14	macOS 11.0+ ARM64	Details
affine_mpc-0.1.1-cp313-cp313-win_amd64.whl 542.8 kB May 19, 2026	CPython 3.13	CPython 3.13	Windows x86-64	Details
affine_mpc-0.1.1-cp313-cp313-musllinux_1_2_x86_64.whl 1.5 MB May 19, 2026	CPython 3.13	CPython 3.13	Linux musl 1.2+ x86-64	Details
affine_mpc-0.1.1-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 484.1 kB May 19, 2026	CPython 3.13	CPython 3.13	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
affine_mpc-0.1.1-cp313-cp313-macosx_11_0_arm64.whl 324.9 kB May 19, 2026	CPython 3.13	CPython 3.13	macOS 11.0+ ARM64	Details
affine_mpc-0.1.1-cp312-cp312-win_amd64.whl 542.9 kB May 19, 2026	CPython 3.12	CPython 3.12	Windows x86-64	Details
affine_mpc-0.1.1-cp312-cp312-musllinux_1_2_x86_64.whl 1.5 MB May 19, 2026	CPython 3.12	CPython 3.12	Linux musl 1.2+ x86-64	Details
affine_mpc-0.1.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 483.9 kB May 19, 2026	CPython 3.12	CPython 3.12	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
affine_mpc-0.1.1-cp312-cp312-macosx_11_0_arm64.whl 324.8 kB May 19, 2026	CPython 3.12	CPython 3.12	macOS 11.0+ ARM64	Details
affine_mpc-0.1.1-cp311-cp311-win_amd64.whl 540.8 kB May 19, 2026	CPython 3.11	CPython 3.11	Windows x86-64	Details
affine_mpc-0.1.1-cp311-cp311-musllinux_1_2_x86_64.whl 1.5 MB May 19, 2026	CPython 3.11	CPython 3.11	Linux musl 1.2+ x86-64	Details
affine_mpc-0.1.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 484.2 kB May 19, 2026	CPython 3.11	CPython 3.11	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
affine_mpc-0.1.1-cp311-cp311-macosx_11_0_arm64.whl 323.9 kB May 19, 2026	CPython 3.11	CPython 3.11	macOS 11.0+ ARM64	Details
affine_mpc-0.1.1-cp310-cp310-win_amd64.whl 540.0 kB May 19, 2026	CPython 3.10	CPython 3.10	Windows x86-64	Details
affine_mpc-0.1.1-cp310-cp310-musllinux_1_2_x86_64.whl 1.4 MB May 19, 2026	CPython 3.10	CPython 3.10	Linux musl 1.2+ x86-64	Details
affine_mpc-0.1.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl 482.6 kB May 19, 2026	CPython 3.10	CPython 3.10	Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64	Details
affine_mpc-0.1.1-cp310-cp310-macosx_11_0_arm64.whl 322.7 kB May 19, 2026	CPython 3.10	CPython 3.10	macOS 11.0+ ARM64	Details

Total release size: 14.0 MB

Release files / affine_mpc-0.1.1-cp314-cp314-win_amd64.whl

Download URL	affine_mpc-0.1.1-cp314-cp314-win_amd64.whl
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Publishing platform: GitHub Actions
Publishing repository: github.com/byu-rad-lab/affine_mpc
Publishing commit: github.com/byu-rad-lab/affine_mpc/tree/7074ac28559915688208acf7650aef675ff26773

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Release files / affine_mpc-0.1.1-cp314-cp314-musllinux_1_2_x86_64.whl

Download URL	affine_mpc-0.1.1-cp314-cp314-musllinux_1_2_x86_64.whl
Size	1.5 MB
Tags	CPython 3.14 Linux musl 1.2+ x86-64
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Release files / affine_mpc-0.1.1-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

Download URL	affine_mpc-0.1.1-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
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Publishing repository: github.com/byu-rad-lab/affine_mpc
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Release files / affine_mpc-0.1.1-cp314-cp314-macosx_11_0_arm64.whl

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Publishing platform: GitHub Actions
Publishing repository: github.com/byu-rad-lab/affine_mpc
Publishing commit: github.com/byu-rad-lab/affine_mpc/tree/7074ac28559915688208acf7650aef675ff26773

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Release files / affine_mpc-0.1.1-cp313-cp313-win_amd64.whl

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Size	542.8 kB
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Uploaded via	`twine/6.1.0 CPython/3.13.12`

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Publishing platform: GitHub Actions
Publishing repository: github.com/byu-rad-lab/affine_mpc
Publishing commit: github.com/byu-rad-lab/affine_mpc/tree/7074ac28559915688208acf7650aef675ff26773

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Publishing configuration: github.com/byu-rad-lab/affine_mpc/blob/7074ac28559915688208acf7650aef675ff26773/.github/workflows/build_wheels.yaml
Publishing logs: github.com/byu-rad-lab/affine_mpc/actions/runs/26069496400/attempts/1

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Release files / affine_mpc-0.1.1-cp313-cp313-musllinux_1_2_x86_64.whl

Download URL	affine_mpc-0.1.1-cp313-cp313-musllinux_1_2_x86_64.whl
Size	1.5 MB
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Publishing repository: github.com/byu-rad-lab/affine_mpc
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Release files / affine_mpc-0.1.1-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

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Publishing repository: github.com/byu-rad-lab/affine_mpc
Publishing commit: github.com/byu-rad-lab/affine_mpc/tree/7074ac28559915688208acf7650aef675ff26773

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Release files / affine_mpc-0.1.1-cp313-cp313-macosx_11_0_arm64.whl

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Publishing repository: github.com/byu-rad-lab/affine_mpc
Publishing commit: github.com/byu-rad-lab/affine_mpc/tree/7074ac28559915688208acf7650aef675ff26773

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Release files / affine_mpc-0.1.1-cp312-cp312-win_amd64.whl

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Size	542.9 kB
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Publishing repository: github.com/byu-rad-lab/affine_mpc
Publishing commit: github.com/byu-rad-lab/affine_mpc/tree/7074ac28559915688208acf7650aef675ff26773

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Release files / affine_mpc-0.1.1-cp312-cp312-musllinux_1_2_x86_64.whl

Download URL	affine_mpc-0.1.1-cp312-cp312-musllinux_1_2_x86_64.whl
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Release files / affine_mpc-0.1.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

Download URL	affine_mpc-0.1.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
Size	483.9 kB
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Publishing platform: GitHub Actions
Publishing repository: github.com/byu-rad-lab/affine_mpc
Publishing commit: github.com/byu-rad-lab/affine_mpc/tree/7074ac28559915688208acf7650aef675ff26773

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Subject: affine_mpc-0.1.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
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Release files / affine_mpc-0.1.1-cp312-cp312-macosx_11_0_arm64.whl

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Release files / affine_mpc-0.1.1-cp311-cp311-win_amd64.whl

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Release files / affine_mpc-0.1.1-cp310-cp310-win_amd64.whl

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Release files / affine_mpc-0.1.1-cp310-cp310-musllinux_1_2_x86_64.whl

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Release files / affine_mpc-0.1.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl

Download URL	affine_mpc-0.1.1-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
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Publishing commit: github.com/byu-rad-lab/affine_mpc/tree/7074ac28559915688208acf7650aef675ff26773

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Release files / affine_mpc-0.1.1-cp310-cp310-macosx_11_0_arm64.whl

Download URL	affine_mpc-0.1.1-cp310-cp310-macosx_11_0_arm64.whl
Size	322.7 kB
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Publishing commit: github.com/byu-rad-lab/affine_mpc/tree/7074ac28559915688208acf7650aef675ff26773

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0.1.1 This release

May 19, 2026 20 release files

0.1.0

May 18, 2026 20 release files

affine-mpc 0.1.1

affine_mpc

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