rsLQR  0.1
cholesky_factors.h
Go to the documentation of this file.
1 
14 #include "linalg.h"
15 
30 typedef struct {
31  int depth;
32  int nhorizon;
33  CholeskyInfo* cholinfo;
34  int numfacts;
35 } NdLqrCholeskyFactors;
36 
46 NdLqrCholeskyFactors* ndlqr_NewCholeskyFactors(int depth, int nhorizon);
47 
55 int ndlqr_FreeCholeskyFactors(NdLqrCholeskyFactors* cholfacts);
56 
65 int ndlqr_GetQFactorizon(NdLqrCholeskyFactors* cholfacts, int index,
66  CholeskyInfo** cholfact);
67 
76 int ndlqr_GetRFactorizon(NdLqrCholeskyFactors* cholfacts, int index,
77  CholeskyInfo** cholfact);
78 
90 int ndlqr_GetSFactorization(NdLqrCholeskyFactors* cholfacts, int leaf, int level,
91  CholeskyInfo** cholfact);
92 
CholeskyInfo
Stores info about a Cholesky decomposition.
Definition: linalg.h:53
ndlqr_FreeCholeskyFactors
int ndlqr_FreeCholeskyFactors(NdLqrCholeskyFactors *cholfacts)
Free the memory of a CholeskyFactors object.
Definition: cholesky_factors.c:38
ndlqr_GetSFactorization
int ndlqr_GetSFactorization(NdLqrCholeskyFactors *cholfacts, int leaf, int level, CholeskyInfo **cholfact)
Get the CholeskyInfo for the output of ndlqr_SolveCholeskyFactor().
Definition: cholesky_factors.c:65
ndlqr_GetRFactorizon
int ndlqr_GetRFactorizon(NdLqrCholeskyFactors *cholfacts, int index, CholeskyInfo **cholfact)
Get the CholeskyInfo for the matrix R at index index.
Definition: cholesky_factors.c:57
ndlqr_NewCholeskyFactors
NdLqrCholeskyFactors * ndlqr_NewCholeskyFactors(int depth, int nhorizon)
Initialize a new NdLqrCholeskyFactors object.
Definition: cholesky_factors.c:6
linalg.h
Defines core linear algebra routines needed by the solvers.
ndlqr_GetQFactorizon
int ndlqr_GetQFactorizon(NdLqrCholeskyFactors *cholfacts, int index, CholeskyInfo **cholfact)
Get the CholeskyInfo for the matrix Q at index index.
Definition: cholesky_factors.c:49
NdLqrCholeskyFactors
Stores a list of CholeskyInfo structs for the rsLQR solver.
Definition: cholesky_factors.h:30