Binary tree for rsLQR algorithm. More...

#include <stdbool.h>

Data Structures
struct	UnitRange
	Represents a range of consecutive integers. More...

struct	BinaryNode_s

struct	OrderedBinaryTree
	The binary tree for the rsLQR solver. More...

Typedefs
typedef struct BinaryNode_s	BinaryNode
	One of the nodes in the binary tree for the rsLQR solver. More...

Functions
OrderedBinaryTree	ndlqr_BuildTree (int N)
	Construct a new binary tree for a horizon of length `N`. More...

int	ndlqr_FreeTree (OrderedBinaryTree *tree)
	Frees the data in `tree`. More...

int	ndlqr_GetIndexFromLeaf (const OrderedBinaryTree *tree, int leaf, int level)
	Get the knot point index given the leaf index at a given level. More...

int	ndlqr_GetIndexLevel (const OrderedBinaryTree *tree, int index)
	Get the level for a given knot point index. More...

int	ndlqr_GetIndexAtLevel (const OrderedBinaryTree *tree, int index, int level)
	Get the index in `level` that corresponds to `index`. More...

Detailed Description

Binary tree for rsLQR algorithm.

Data Structures