NdLqrSolver Struct Reference

Main solver for rsLQR. More...

#include <solver.h>

Data Fields
int	nstates
	size of state vector
int	ninputs
	number of control inputs
int	nhorizon
	length of the time horizon
int	depth
	depth of the binary tree
int	nvars
	number of decision variables (size of the linear system)
OrderedBinaryTree	tree
Matrix *	diagonals
	(nhorizon,2) array of diagonal blocks (Q,R)
NdData *	data
	original matrix data
NdData *	fact
	factorization
NdData *	soln
	solution vector (also the initial RHS)
NdLqrCholeskyFactors *	cholfacts
double	solve_time_ms
	total solve time in milliseconds.
double	linalg_time_ms
NdLqrProfile	profile
int	num_threads
	Number of threads used by the solver.

Detailed Description

Main solver for rsLQR.

Core struct for solving problems with rsLQR. Allocates all the required memory up front to avoid any dynamic memory allocations at runtime. Right now, the horizon length is required to be a power of 2 (e.g. 32,64,128,256,etc.).

Construction and destruction

Use ndlqr_NewNdLqrSolver() to initialize a new solver. This should always be paired with a single call to ndlqr_FreeNdLqrSolver().

Typical Usage

LQRProblem* lqrprob = ndlqr_ReadTestLQRProblem();  // your data here
int nstates = lqrprob->lqrdata[0]->nstates;
int ninputs = lqrprob->lqrdata[0]->ninputs;
int nhorizon = lqrprob->nhorizon;
 
NdLqrSolver* solver = ndlqr_NewNdLqrSolver(nstates, ninputs, nhorizon);
ndlqr_InitializeWithLQRProblem(lqrprob, solver);
ndlqr_Solve(solver);
ndlqr_PrintSolveSummary();
ndlqr_FreeLQRProblem(lqrprob);
ndlqr_FreeNdLqrSolver(solver);

Methods

• ndlqr_NewNdLqrSolver()
• ndlqr_FreeNdLqrSolver()
• ndlqr_InitializeWithLQRProblem()
• ndlqr_Solve()
• ndlqr_ResetSolver()
• ndlqr_GetNumVars()
• ndlqr_SetNumThreads()
• ndlqr_PrintSolveProfile()
• ndlqr_GetProfile()

---

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

• src/solver.h