#include "matrix.h"

Data Structures
struct	LQRData
	Holds the data for a single time step of LQR. More...

Functions
int	ndlqr_InitializeLQRData (LQRData lqrdata, double Q, double R, double q, double r, double c, double A, double B, double d)
	Copy data into an initialized LQRData structure. More...

LQRData *	ndlqr_NewLQRData (int nstates, int ninputs)
	Allocate memory for a new LQRData structure. More...

int	ndlqr_FreeLQRData (LQRData *lqrdata)
	Free the memory for and LQRData object. More...

int	ndlqr_CopyLQRData (LQRData dest, LQRData src)
	Copies one LQRData object to another. More...

Matrix	ndlqr_GetA (LQRData *lqrdata)
	Get (n,n) state transition matrix.

Matrix	ndlqr_GetB (LQRData *lqrdata)
	Get (n,m) control input matrix.

Matrix	ndlqr_Getd (LQRData *lqrdata)
	Get (n,) affine dynamice term.

Matrix	ndlqr_GetQ (LQRData *lqrdata)
	Get state cost Hessian.

Matrix	ndlqr_GetR (LQRData *lqrdata)
	Get control cost Hessian.

Matrix	ndlqr_Getq (LQRData *lqrdata)
	Get affine state cost.

Matrix	ndlqr_Getr (LQRData *lqrdata)
	Get affine control cost.

void	ndlqr_PrintLQRData (LQRData *lqrdata)
	Prints the data contained in LQRData. More...

Detailed Description

Data Structures