ulqr  0.1.0
knotpoint.h
1 #pragma once
2 
3 #include "constants.h"
4 #include "riccati/constants.h"
5 #include "slap/matrix.h"
6 
11 typedef struct {
12  Matrix x;
13  Matrix u;
14  double t;
15  double h;
16 } KnotPoint;
17 
33 enum ulqr_ReturnCode ulqr_InitializeKnotPoint(KnotPoint* z, int nstates, int ninputs, double* data,
34  double t, double h);
35 
36 Matrix* ulqr_GetKnotpointState(KnotPoint* z);
37 Matrix* ulqr_GetKnotpointInput(KnotPoint* z);
38 double ulqr_GetTime(KnotPoint* z);
39 double ulqr_GetTimestep(KnotPoint* z);
KnotPoint::u
Matrix u
control input vector
Definition: knotpoint.h:13
KnotPoint
Stores the state, control, and time information at a single timestep / knot point.
Definition: knotpoint.h:11
matrix.h
Matrix type and basic operations.
KnotPoint::x
Matrix x
state vector
Definition: knotpoint.h:12
Matrix
Represents a matrix of double-precision data.
Definition: matrix.h:71
KnotPoint::t
double t
time
Definition: knotpoint.h:14
KnotPoint::h
double h
time step
Definition: knotpoint.h:15