lqr_data.h

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#pragma once
 
#include "lqr_data.h"
#include "riccati/constants.h"
#include "slap/matrix.h"
 
typedef struct {
  int nstates;
  int ninputs;
  Matrix Q;
  Matrix R;
  Matrix H;
  Matrix q;
  Matrix r;
  double* c;
  Matrix A;
  Matrix B;
  Matrix f;
  Matrix K;    
  Matrix d;    
  Matrix P;    
  Matrix p;    
  Matrix Qxx;  
  Matrix Quu;  
  Matrix Qux;  
  Matrix Qx;   
  Matrix Qu;   
  Matrix y;    
 
  int datasize;  
} LQRData;
 
enum ulqr_ReturnCode ulqr_InitializeLQRData(LQRData* lqrdata, int nstates, int ninputs,
                                            double* data);
 
int ulqr_CopyLQRData(LQRData* dest, LQRData* src);
 
int LQRDataSize(int nstates, int ninputs);