Basic methods for creating and using the Riccati solver. More...

#include "lqr_problem.h"
#include "matrix.h"

Data Structures
struct	RiccatiSolver
	Solver that uses Riccati recursion to solve an LQR problem. More...

Functions
RiccatiSolver *	ndlqr_NewRiccatiSolver (LQRProblem *lqrprob)
	Initialize a new Riccati solver. More...

int	ndlqr_FreeRiccatiSolver (RiccatiSolver *solver)
	Free the memory for a Riccati solver. More...

int	ndlqr_PrintRiccatiSummary (RiccatiSolver *solver)
	Prints a summary of the solve. More...

Matrix	ndlqr_GetRiccatiSolution (RiccatiSolver *solver)
	Get the solution vector. More...

int	ndlqr_GetNumVarsRiccati (RiccatiSolver *solver)

int	ndlqr_CopyRiccatiSolution (RiccatiSolver solver, double soln)
	Copies the solution to a user-supplied array. More...

int	ndlqr_GetRiccatiSolveTimes (RiccatiSolver solver, double t_solve, double t_bp, double t_fp)
	Get the Riccati solve times. More...

Detailed Description

Basic methods for creating and using the Riccati solver.

Data Structures