Python API Reference

This section is generated directly from the ssqpy bindings' docstrings (via mkdocstrings), so it always reflects the module as built. It documents the Python surface only; see the C++ API Reference for the corresponding C++ API, and Concepts for a guided, prose explanation of how the pieces fit together.

• ssqpy: the top-level module, covering log levels

• ssqpy.model: Model, SolverMode, Integration, Dimensions

• ssqpy.model.costs: StageCost and predefined costs

• ssqpy.model.constraints: StageConstraints and predefined constraints

• ssqpy.model.dynamics: StageDynamics

• ssqpy.model.terrain: Terrain, FlatTerrain

• ssqpy.solvers: ssqp, MPC, ssqpParams, admmParams, hpipmParams, FlatVec, convergence data

• ssqpy.solvers.search: dynamics and hyperparameter search

Note

Custom subclasses (of StageCost, StageDynamics, StageConstraints or Terrain) that you write in Python only need to implement the abstract methods described on each base class's page. See the Concepts pages for the full contract.