nddata.h

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#pragma once
 
#include "lqr_data.h"
#include "matrix.h"
 
typedef struct {
  Matrix lambda;  
  Matrix state;   
  Matrix input;   
} NdFactor;
 
Matrix ndlqr_GetLambdaFactor(NdFactor* factor);
Matrix ndlqr_GetStateFactor(NdFactor* factor);
Matrix ndlqr_GetInputFactor(NdFactor* factor);
 
typedef struct {
  // clang-format off
  int nstates;    
  int ninputs;    
  int nsegments;  
  int depth;      
  int width;      
  double* data;       
  NdFactor* factors;  
  // clang-format on
} NdData;
 
NdData* ndlqr_NewNdData(int nstates, int ninputs, int nhorizon, int width);
 
int ndlqr_FreeNdData(NdData* nddata);
 
int ndlqr_GetNdFactor(NdData* nddata, int index, int level, NdFactor** factor);
 
void ndlqr_ResetNdData(NdData* nddata);