LQRData Struct Reference

Holds the data for a single time step of LQR. More...

#include <lqr_data.h>

Data Fields
int	nstates
int	ninputs
double *	Q
double *	R
double *	q
double *	r
double *	c
double *	A
double *	B
double *	d

Detailed Description

Holds the data for a single time step of LQR.

Stores the \( Q, R, q, r, c \) values for the cost function:

\[ \frac{1}{2} x^T Q x + q^T x + \frac{1}{2} u^T R u + r^T r + c \]

and the \( A, B, d \) values for the dynamics:

\[ x_{k+1} = A x_k + B u_k + d \]

Construction and destruction

A new LQRData object is constructed using ndlqr_NewLQRData(), which must be freed with a call to ndlqr_FreeLQRData().

Methods

• ndlqr_NewLQRData()
• ndlqr_FreeLQRData()
• ndlqr_InitializeLQRData()
• ndlqr_CopyLQRData()
• ndlqr_PrintLQRData()

Getters

The follow methods return a Matrix object wrapping the data from an LQRData object. The user should NOT call FreeMatrix() on this data since it is owned by the LQRData object.

• ndlqr_GetA()
• ndlqr_GetB()
• ndlqr_Getd()
• ndlqr_GetQ()
• ndlqr_GetR()
• ndlqr_Getq()
• ndlqr_Getr()

---

The documentation for this struct was generated from the following file:

• src/lqr_data.h