Defines the core storage types used by the rsLQR solver. More...

#include "lqr_data.h"
#include "matrix.h"

Data Structures
struct	NdFactor
	A chunk of memory for a single time step. More...

struct	NdData
	Core storage container for the rsLQR solver. More...

Functions
Matrix	ndlqr_GetLambdaFactor (NdFactor *factor)

Matrix	ndlqr_GetStateFactor (NdFactor *factor)

Matrix	ndlqr_GetInputFactor (NdFactor *factor)

NdData *	ndlqr_NewNdData (int nstates, int ninputs, int nhorizon, int width)
	Initialize the NdData structure. More...

int	ndlqr_FreeNdData (NdData *nddata)
	Frees the memory allocated in an NdData structure. More...

int	ndlqr_GetNdFactor (NdData nddata, int index, int level, NdFactor *factor)
	Retrieve an individual NdFactor out of the NdData. More...

void	ndlqr_ResetNdData (NdData *nddata)
	Resets all of the memory for an NdData to zero. More...

Detailed Description

Defines the core storage types used by the rsLQR solver.

Data Structures