Core methods using during the rsLQR solve. More...

#include <stdlib.h>
#include "solver.h"

Functions
int	ndlqr_SolveLeaf (NdLqrSolver *solver, int index)
	Solve all the equations for the lowest-level diagonal blocks, by timestep. More...

int	ndlqr_SolveLeaves (NdLqrSolver *solver)

int	ndlqr_FactorInnerProduct (NdData data, NdData fact, int index, int data_level, int fact_level)
	Calculates one of the inner products needed at level `data_level`. More...

int	ndlqr_SolveCholeskyFactor (NdData fact, CholeskyInfo cholinfo, int index, int level, int upper_level)
	Use the precomputed Cholesky factorization to solve for y at each parent level. More...

bool	ndlqr_ShouldCalcLambda (OrderedBinaryTree *tree, int index, int i)
	Determines if the \( \Lambda \) should be updated during ndlqr_UpdateSchurFactor() More...

int	ndlqr_UpdateShurFactor (NdData fact, NdData soln, int index, int i, int level, int upper_level, bool calc_lambda)
	Calculates \( x \) and \( z \) to complete the factorization at the current level. More...

int	ndlqr_ComputeShurCompliment (NdLqrSolver *solver, int index, int level, int upper_level)

Detailed Description

Core methods using during the rsLQR solve.

Functions