8000 Update documentation for python API by sandmaennchen · Pull Request #1253 · acados/acados · GitHub
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Update documentation for python API #1253

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Merged
merged 3 commits into from
Sep 16, 2024
Merged

Update documentation for python API #1253

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91c718d
more sub headlines in python API docs
sandmaennchen Sep 16, 2024
aedbe36
exclude C interface from docs
FreyJo Sep 16, 2024
25f50da
remove duplicate members
FreyJo Sep 16, 2024
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5 changes: 3 additions & 2 deletions docs/Makefile
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Expand Up @@ -40,7 +40,7 @@ SPHINXPROJ = acados
SOURCEDIR = .
BUILDDIR = _build
GENERATED = .doctrees _static _sources .buildinfo .nojekyll genindex.html objects.inv search.html searchindex.js
DOXYBUILDDIR = _build_doxygen_c_interface _build_doxygen
DOXYBUILDDIR = _build_doxygen # _build_doxygen_c_interface


default: doxygen html
Expand All @@ -52,9 +52,10 @@ html:
@$(SPHINXBUILD) -b $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

doxygen:
@$(DOXYBUILD) c_interface/Doxyfile
@$(DOXYBUILD) doxygen/Doxyfile

# @$(DOXYBUILD) c_interface/Doxyfile

# Catch-all target: route all unknown targets to Sphinx using the new
# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS).
%: Makefile
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1 change: 1 addition & 0 deletions docs/conf.py
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Expand Up @@ -117,6 +117,7 @@
"use_source_button": True,
"use_issues_button": True,
"show_navbar_depth": 1, # 2 looks nice, but only extends for real subpages, like C interface, which is not so relevant
"show_toc_level": 1,
}

# Add any paths that contain custom static files (such as style sheets) here,
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3 changes: 2 additions & 1 deletion docs/index.md
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Expand Up @@ -85,6 +85,7 @@ Documentation latest build: |today|
interfaces/index
python_interface/index
matlab_octave_interface/index
c_interface/index
embedded_workflow/index
```

<!-- c_interface/index -->
52 changes: 38 additions & 14 deletions docs/python_interface/index.md
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Expand Up @@ -103,92 +103,116 @@ The following image shows an overview of the available classes in the `acados` P
:align: center
```

## acados OCP solver interface -- `AcadosOcp` and `AcadosOcpSolver`
The class [`AcadosOcp`](#acados_template.acados_ocp.AcadosOcp) can be used to formulate optimal control problems (OCP), for which an acados solver ([`AcadosOcpSolver`](#acados_template.acados_ocp_solver.AcadosOcpSolver)) can be created.
## `acados` OCP solver interface

The interface to interact with the acados OCP solver in C is based on [ctypes](https://cython.org/).
The class [`AcadosOcp`](#acados_template.acados_ocp.AcadosOcp) can be used to formulate optimal control problems (OCP), for which an `acados` solver ([`AcadosOcpSolver`](#acados_template.acados_ocp_solver.AcadosOcpSolver)) can be created.

The interface to interact with the `acados` OCP solver in C is based on [ctypes](https://cython.org/).

Additionally, there is the option to use a Cython based wrapper around the C part.
This offers faster interaction with the solver, because getter and setter calls, which include shape checking are done in compiled C code.
The cython based wrapper is called [`AcadosOcpSolverCython`](#acados_template.acados_ocp_solver.AcadosOcpSolverCython) and was added in [PR #791](https://github.com/acados/acados/pull/791).
`AcadosOcpSolverCython` and `AcadosOcpSolver` offer the same functionality and equivalent behavior is ensured in CI tests.


### `AcadosOcpSolver`
``` eval_rst
.. automodule:: acados_template.acados_ocp_solver
:members:
:private-members:
:exclude-members: make_ocp_dims_consistent
```


<!-- ## acados OCP -->
### `AcadosOcp`
``` eval_rst
.. automodule:: acados_template.acados_ocp
:members:
:private-members:
:exclude-members:
```

### `AcadosOcpCost`
``` eval_rst
.. automodule:: acados_template.acados_ocp_cost
:members:
:private-members:
:exclude-members:
```

### `AcadosOcpConstraints`
``` eval_rst
.. automodule:: acados_template.acados_ocp_constraints
:members:
:private-members:
:exclude-members:
```

### `AcadosOcpOptions`
``` eval_rst
.. automodule:: acados_template.acados_ocp_options
:members:
:private-members:
:exclude-members:
```

### `AcadosOcpDims`
``` eval_rst
.. automodule:: acados_template.acados_dims
:members:
:members: AcadosOcpDims
:private-members:
:exclude-members:
```



<!-- ## acados model -->
### `AcadosModel`
``` eval_rst
.. automodule:: acados_template.acados_model
:members:
:members: AcadosModel
:private-members:
:exclude-members:
```



## acados integrator interface -- `AcadosSim` and `AcadosSimSolver`
## `acados` integrator interface

The class `AcadosSim` can be used to formulate a simulation problem, for which an acados integrator (`AcadosSimSolver`) can be created.
The class [`AcadosSim`](#acados_template.acados_sim.AcadosSim) can be used to formulate a simulation problem, for which an acados integrator, [`AcadosSimSolver`](#acados_template.acados_sim_solver.AcadosSimSolver), can be created.
The interface to interact with the acados integrator in C is based on ctypes.


### `AcadosSim`
``` eval_rst
.. automodule:: acados_template.acados_sim
:members:
:members: AcadosSim
:private-members:
:exclude-members:
```

<!-- ## acados sim solver -->
### `AcadosSimSolver`
``` eval_rst
.. automodule:: acados_template.acados_sim_solver
:members:
:private-members:
:exclude-members: make_ocp_dims_consistent
```

### `AcadosSimOptions`
``` eval_rst
.. automodule:: acados_template.acados_sim
:members: AcadosSimOptions
:private-members:
:exclude-members: make_ocp_dims_consistent
```

### `AcadosSimDims`
``` eval_rst
.. automodule:: acados_template.acados_dims
:members: AcadosSimDims
:private-members:
:exclude-members: make_ocp_dims_consistent
```


## Builders
The default builder for `acados` is `make` using a `Makefile` generated by `acados`.
If cross-platform compatibility is required `CMake` can be used to build the binaries required by the solvers.
Expand All @@ -199,7 +223,7 @@ If cross-platform compatibility is required `CMake` can be used to build the bin
```


## acados multi-phase OCP
## `acados` multi-phase OCP
Advanced feature interface to formulate multi-phase OCPs.

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