OrderedBinaryTree Struct Reference

The binary tree for the rsLQR solver. More...

#include <binary_tree.h>

Data Fields
BinaryNode *	root
	root of the tree. Corresponds to the "middle" knot point.
BinaryNode *	node_list
	a list of all the nodes, ordered by their knot point index
int	num_elements
	length of the OrderedBinaryTree::node_list
int	depth
	total depth of the tree

Detailed Description

The binary tree for the rsLQR solver.

Caches useful information to speed up some of the computations during the rsLQR solver, mostly around converting form linear knot point indices to the hierarchical indexing of the algorithm.

Construction and destruction

A new tree can be constructed solely given the length of the time horizon, which must be a power of two. Use ndlqr_BuildTree(N) to build a new tree, which can be de-allocated using ndlqr_FreeTree().

Methods

• ndlqr_BuildTree()
• ndlqr_FreeTree()
• ndlqr_GetIndexFromLeaf()
• ndlqr_GetIndexLevel()
• ndlqr_GetIndexAtLevel()

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

• src/binary_tree.h