A struct for storing all of the info for the Cholesky factorization of the rsLQR solver. More...

#include "linalg.h"

Data Structures
struct	NdLqrCholeskyFactors
	Stores a list of CholeskyInfo structs for the rsLQR solver. More...

Functions
NdLqrCholeskyFactors *	ndlqr_NewCholeskyFactors (int depth, int nhorizon)
	Initialize a new NdLqrCholeskyFactors object. More...

int	ndlqr_FreeCholeskyFactors (NdLqrCholeskyFactors *cholfacts)
	Free the memory of a CholeskyFactors object. More...

int	ndlqr_GetQFactorizon (NdLqrCholeskyFactors cholfacts, int index, CholeskyInfo *cholfact)
	Get the CholeskyInfo for the matrix Q at index `index`. More...

int	ndlqr_GetRFactorizon (NdLqrCholeskyFactors cholfacts, int index, CholeskyInfo *cholfact)
	Get the CholeskyInfo for the matrix R at index `index`. More...

int	ndlqr_GetSFactorization (NdLqrCholeskyFactors cholfacts, int leaf, int level, CholeskyInfo *cholfact)
	Get the CholeskyInfo for the output of ndlqr_SolveCholeskyFactor(). More...

Detailed Description

A struct for storing all of the info for the Cholesky factorization of the rsLQR solver.

Data Structures