C++ Interface¶

The C++ library is the core implementation of affine_mpc. It provides the public MPC API, the OSQP-backed solver integration, and the logging utilities used by both the native and Python interfaces.

Start Here¶

• Build and run your first example: Getting Started
• Recommended workflow and main classes: Usage
• Shared concepts and terminology: Concepts
• End-to-end example: Examples

Main Public Types¶

• affine_mpc::Parameterization
• affine_mpc::Options
• affine_mpc::MPCBase
• affine_mpc::CondensedMPC
• affine_mpc::SparseMPC
• affine_mpc::MPCLogger
• affine_mpc::SolveStatus

Public headers live in include/affine_mpc/.