Core methods for the Riccati solve. More...

#include "riccati_solver.h"
#include "slap/linalg.h"

Functions
int	ulqr_SolveRiccati (RiccatiSolver *solver)
	Solve the LQR problem using Riccati recursion and a forward simulation of the linear dynamics. More...

int	ulqr_BackwardPass (RiccatiSolver *solver)
	Run the Riccati solver backward pass. More...

int	ulqr_ForwardPass (RiccatiSolver *solver)
	Run the Riccati forward pass to solve for the solution vector. More...

Detailed Description

Core methods for the Riccati solve.

Functions