rsLQR  0.1
Data Fields
NdFactor Struct Reference
rsLQR Solver

A chunk of memory for a single time step. More...

#include <nddata.h>

Data Fields

Matrix lambda
 (n,w) block for the dual variables
 
Matrix state
 (n,w) block for the state variables
 
Matrix input
 (m,w) block for the control input variables
 

Detailed Description

A chunk of memory for a single time step.

Stores a matrix of size (2n+m,n), divided into blocks:

\[ \begin{bmatrix} \Lambda \\ X \\ U \end{bmatrix} \]

which correspond to the NdFactor.lambda, NdFactor.state, and NdFactor.input fields, which can also be extracted using the following methods:

  • ndlqr_GetLambdaFactor()
  • ndlqr_GetStateFactor()
  • ndlqr_GetInputFactor()

Each of which return a Matrix of the corresponding size. Each of these blocks can have an arbitrary width, since these can represent either data from the KKT matrix or the right-hand-side vector(s).

Internally, the solver stores arrays of these objects, which allow the solver to extract chunks out of the original matrix data, by time step.

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