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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 may become nonzero later, initialize with that structure already present (or, with the sparse formulation, pass ModelSparsity::Full to initializeSolver()); with the condensed formulation the same holds for cost weights

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.

Metadata

Release files for affine-mpc 0.4.0

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Source distribution (sdist)

Source distribution for affine-mpc 0.4.0
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affine_mpc-0.4.0.tar.gz 328.5 kB With provenance Details for affine_mpc-0.4.0.tar.gz

Built distributions (wheels)

Table of built distributions (wheels) for affine-mpc 0.4.0
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affine_mpc-0.4.0-cp315-cp315-win_amd64.whl CPython 3.15 CPython 3.15 Windows x86-64 Details for affine_mpc-0.4.0-cp315-cp315-win_amd64.whl
affine_mpc-0.4.0-cp315-cp315-musllinux_1_2_x86_64.whl CPython 3.15 CPython 3.15 Linux musl 1.2+ x86-64 Details for affine_mpc-0.4.0-cp315-cp315-musllinux_1_2_x86_64.whl
affine_mpc-0.4.0-cp315-cp315-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl CPython 3.15 CPython 3.15 Linux glibc 2.28+ x86-64, Linux glibc 2.27+ x86-64 Details for affine_mpc-0.4.0-cp315-cp315-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
affine_mpc-0.4.0-cp315-cp315-macosx_11_0_arm64.whl CPython 3.15 CPython 3.15 macOS 11.0+ ARM64 Details for affine_mpc-0.4.0-cp315-cp315-macosx_11_0_arm64.whl
affine_mpc-0.4.0-cp314-cp314-win_amd64.whl CPython 3.14 CPython 3.14 Windows x86-64 Details for affine_mpc-0.4.0-cp314-cp314-win_amd64.whl
affine_mpc-0.4.0-cp314-cp314-musllinux_1_2_x86_64.whl CPython 3.14 CPython 3.14 Linux musl 1.2+ x86-64 Details for affine_mpc-0.4.0-cp314-cp314-musllinux_1_2_x86_64.whl
affine_mpc-0.4.0-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl CPython 3.14 CPython 3.14 Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 Details for affine_mpc-0.4.0-cp314-cp314-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
affine_mpc-0.4.0-cp314-cp314-macosx_11_0_arm64.whl CPython 3.14 CPython 3.14 macOS 11.0+ ARM64 Details for affine_mpc-0.4.0-cp314-cp314-macosx_11_0_arm64.whl
affine_mpc-0.4.0-cp313-cp313-win_amd64.whl CPython 3.13 CPython 3.13 Windows x86-64 Details for affine_mpc-0.4.0-cp313-cp313-win_amd64.whl
affine_mpc-0.4.0-cp313-cp313-musllinux_1_2_x86_64.whl CPython 3.13 CPython 3.13 Linux musl 1.2+ x86-64 Details for affine_mpc-0.4.0-cp313-cp313-musllinux_1_2_x86_64.whl
affine_mpc-0.4.0-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl CPython 3.13 CPython 3.13 Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 Details for affine_mpc-0.4.0-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
affine_mpc-0.4.0-cp313-cp313-macosx_11_0_arm64.whl CPython 3.13 CPython 3.13 macOS 11.0+ ARM64 Details for affine_mpc-0.4.0-cp313-cp313-macosx_11_0_arm64.whl
affine_mpc-0.4.0-cp312-cp312-win_amd64.whl CPython 3.12 CPython 3.12 Windows x86-64 Details for affine_mpc-0.4.0-cp312-cp312-win_amd64.whl
affine_mpc-0.4.0-cp312-cp312-musllinux_1_2_x86_64.whl CPython 3.12 CPython 3.12 Linux musl 1.2+ x86-64 Details for affine_mpc-0.4.0-cp312-cp312-musllinux_1_2_x86_64.whl
affine_mpc-0.4.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl CPython 3.12 CPython 3.12 Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 Details for affine_mpc-0.4.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
affine_mpc-0.4.0-cp312-cp312-macosx_11_0_arm64.whl CPython 3.12 CPython 3.12 macOS 11.0+ ARM64 Details for affine_mpc-0.4.0-cp312-cp312-macosx_11_0_arm64.whl
affine_mpc-0.4.0-cp311-cp311-win_amd64.whl CPython 3.11 CPython 3.11 Windows x86-64 Details for affine_mpc-0.4.0-cp311-cp311-win_amd64.whl
affine_mpc-0.4.0-cp311-cp311-musllinux_1_2_x86_64.whl CPython 3.11 CPython 3.11 Linux musl 1.2+ x86-64 Details for affine_mpc-0.4.0-cp311-cp311-musllinux_1_2_x86_64.whl
affine_mpc-0.4.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl CPython 3.11 CPython 3.11 Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 Details for affine_mpc-0.4.0-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
affine_mpc-0.4.0-cp311-cp311-macosx_11_0_arm64.whl CPython 3.11 CPython 3.11 macOS 11.0+ ARM64 Details for affine_mpc-0.4.0-cp311-cp311-macosx_11_0_arm64.whl
affine_mpc-0.4.0-cp310-cp310-win_amd64.whl CPython 3.10 CPython 3.10 Windows x86-64 Details for affine_mpc-0.4.0-cp310-cp310-win_amd64.whl
affine_mpc-0.4.0-cp310-cp310-musllinux_1_2_x86_64.whl CPython 3.10 CPython 3.10 Linux musl 1.2+ x86-64 Details for affine_mpc-0.4.0-cp310-cp310-musllinux_1_2_x86_64.whl
affine_mpc-0.4.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl CPython 3.10 CPython 3.10 Linux glibc 2.27+ x86-64, Linux glibc 2.28+ x86-64 Details for affine_mpc-0.4.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl
affine_mpc-0.4.0-cp310-cp310-macosx_11_0_arm64.whl CPython 3.10 CPython 3.10 macOS 11.0+ ARM64 Details for affine_mpc-0.4.0-cp310-cp310-macosx_11_0_arm64.whl

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