solver.h

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#pragma once
 
#include "binary_tree.h"
#include "cholesky_factors.h"
#include "linalg.h"
#include "lqr_problem.h"
#include "nddata.h"
 
typedef struct {
  double t_total_ms;
  double t_leaves_ms;
  double t_products_ms;
  double t_cholesky_ms;
  double t_cholsolve_ms;
  double t_shur_ms;
  int num_threads;
} NdLqrProfile;
 
NdLqrProfile ndlqr_NewNdLqrProfile();
 
void ndlqr_ResetProfile(NdLqrProfile* prof);
 
void ndlqr_CopyProfile(NdLqrProfile* dest, NdLqrProfile* src);
 
void ndlqr_PrintProfile(NdLqrProfile* profile);
 
void ndlqr_CompareProfile(NdLqrProfile* base, NdLqrProfile* prof);
 
typedef struct {
  int nstates;   
  int ninputs;   
  int nhorizon;  
  int depth;     
  int nvars;     
  OrderedBinaryTree tree;
  Matrix* diagonals;  
  NdData* data;       
  NdData* fact;       
  NdData* soln;       
  NdLqrCholeskyFactors* cholfacts;
  double solve_time_ms;  
  double linalg_time_ms;
  NdLqrProfile profile;
  int num_threads;  
} NdLqrSolver;
 
NdLqrSolver* ndlqr_NewNdLqrSolver(int nstates, int ninputs, int nhorizon);
 
int ndlqr_FreeNdLqrSolver(NdLqrSolver* solver);
 
int ndlqr_InitializeWithLQRProblem(const LQRProblem* lqrprob, NdLqrSolver* solver);
 
void ndlqr_ResetSolver(NdLqrSolver* solver);
 
void ndlqr_PrintSolveSummary(NdLqrSolver* solver);
 
int ndlqr_GetNumVars(NdLqrSolver* solver);
 
int ndlqr_SetNumThreads(NdLqrSolver* solver, int num_threads);
 
int ndlqr_GetNumThreads(NdLqrSolver* solver);
 
int ndlqr_PrintSolveProfile(NdLqrSolver* solver);
 
NdLqrProfile ndlqr_GetProfile(NdLqrSolver* solver);