rsLQR  0.1
lqr_problem.h
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1 
13 #pragma once
14 
15 #include "lqr_data.h"
16 
31 typedef struct {
32  int nhorizon;
33  double* x0;
34  LQRData** lqrdata;
35 } LQRProblem;
36 
45 int ndlqr_InitializeLQRProblem(LQRProblem* lqrproblem, double* x0, LQRData** lqrdata);
46 
57 LQRProblem* ndlqr_NewLQRProblem(int nstates, int ninputs, int nhorizon);
58 
68 int ndlqr_FreeLQRProblem(LQRProblem* lqrprob);
69 
ndlqr_InitializeLQRProblem
int ndlqr_InitializeLQRProblem(LQRProblem *lqrproblem, double *x0, LQRData **lqrdata)
Initialize the problem with an initial state and the LQR data.
Definition: lqr_problem.c:7
ndlqr_FreeLQRProblem
int ndlqr_FreeLQRProblem(LQRProblem *lqrprob)
Free the data stored by and LQRProblem.
Definition: lqr_problem.c:38
ndlqr_NewLQRProblem
LQRProblem * ndlqr_NewLQRProblem(int nstates, int ninputs, int nhorizon)
Initialize a new LQRProblem data with unitialized data.
Definition: lqr_problem.c:16
LQRData
Holds the data for a single time step of LQR.
Definition: lqr_data.h:54
lqr_data.h
LQRData type.
LQRProblem
Describes an LQR problem with affine terms.
Definition: lqr_problem.h:31