High-level methods for the nsLQR solver. More...

#include "binary_tree.h"
#include "cholesky_factors.h"
#include "linalg.h"
#include "lqr_problem.h"
#include "nddata.h"

Data Structures
struct	NdLqrProfile
	A struct describing how long each part of the solve took, in milliseconds. More...

struct	NdLqrSolver
	Main solver for rsLQR. More...

Functions
NdLqrProfile	ndlqr_NewNdLqrProfile ()
	Create a profile initialized with zeros.

void	ndlqr_ResetProfile (NdLqrProfile *prof)
	Reset the profile to its initialized state. More...

void	ndlqr_CopyProfile (NdLqrProfile dest, NdLqrProfile src)
	Copy the profile information to a new profile. More...

void	ndlqr_PrintProfile (NdLqrProfile *profile)
	Print a summary fo the profile. More...

void	ndlqr_CompareProfile (NdLqrProfile base, NdLqrProfile prof)
	Compare two profiles, printing the comparison to stdout. More...

NdLqrSolver *	ndlqr_NewNdLqrSolver (int nstates, int ninputs, int nhorizon)
	Create a new solver, allocating all the required memory. More...

int	ndlqr_FreeNdLqrSolver (NdLqrSolver *solver)
	Deallocates the memory for the solver. More...

int	ndlqr_InitializeWithLQRProblem (const LQRProblem lqrprob, NdLqrSolver solver)
	Initialize the solver with data from an LQR Problem. More...

void	ndlqr_ResetSolver (NdLqrSolver *solver)
	Resets the rsLQR solver. More...

void	ndlqr_PrintSolveSummary (NdLqrSolver *solver)
	Prints a summary of the solve. More...

int	ndlqr_GetNumVars (NdLqrSolver *solver)
	Gets the total number of decision variables for the problem. More...

int	ndlqr_SetNumThreads (NdLqrSolver *solver, int num_threads)
	Set the number of threads to be used during the solve. More...

int	ndlqr_GetNumThreads (NdLqrSolver *solver)
	Get the number of threads used during the rsLQR solve. More...

int	ndlqr_PrintSolveProfile (NdLqrSolver *solver)
	Prints a summary of how long individual components took. More...

NdLqrProfile	ndlqr_GetProfile (NdLqrSolver *solver)
	Ge the internal profile data from a solve. More...

Detailed Description

High-level methods for the nsLQR solver.

Author: Brian Jackson (bjack.nosp@m.205@.nosp@m.gmail.nosp@m..com)

Version: 0.1

Date: 2022-01-29

Data Structures

Functions

Detailed Description