rsLQR  0.1
riccati_solve.h
Go to the documentation of this file.
1 
13 #pragma once
14 
15 #include "linalg.h"
16 #include "riccati_solver.h"
17 
25 int ndlqr_SolveRiccati(RiccatiSolver* solver);
26 
37 int ndlqr_BackwardPass(RiccatiSolver* solver);
38 
49 int ndlqr_ForwardPass(RiccatiSolver* solver);
50 
ndlqr_BackwardPass
int ndlqr_BackwardPass(RiccatiSolver *solver)
Run the Riccati solver backward pass.
Definition: riccati_solve.c:26
riccati_solver.h
Basic methods for creating and using the Riccati solver.
RiccatiSolver
Solver that uses Riccati recursion to solve an LQR problem.
Definition: riccati_solver.h:62
linalg.h
Defines core linear algebra routines needed by the solvers.
ndlqr_SolveRiccati
int ndlqr_SolveRiccati(RiccatiSolver *solver)
Solve the LQR problem using Riccati recursion and a forward simulation of the linear dynamics.
Definition: riccati_solve.c:7
ndlqr_ForwardPass
int ndlqr_ForwardPass(RiccatiSolver *solver)
Run the Riccati forward pass to solve for the solution vector.
Definition: riccati_solve.c:114