ulqr  0.1.0
riccati_solve.h
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1 
13 #pragma once
14 
15 #include "riccati_solver.h"
16 #include "slap/linalg.h"
17 
25 int ulqr_SolveRiccati(RiccatiSolver* solver);
26 
37 int ulqr_BackwardPass(RiccatiSolver* solver);
38 
49 int ulqr_ForwardPass(RiccatiSolver* solver);
50 
ulqr_SolveRiccati
int ulqr_SolveRiccati(RiccatiSolver *solver)
Solve the LQR problem using Riccati recursion and a forward simulation of the linear dynamics.
Definition: riccati_solve.c:11
riccati_solver.h
Basic methods for creating and using the Riccati solver.
RiccatiSolver
Solver that uses Riccati recursion to solve an LQR problem.
Definition: riccati_solver.h:63
ulqr_ForwardPass
int ulqr_ForwardPass(RiccatiSolver *solver)
Run the Riccati forward pass to solve for the solution vector.
Definition: riccati_solve.c:125
ulqr_BackwardPass
int ulqr_BackwardPass(RiccatiSolver *solver)
Run the Riccati solver backward pass.
Definition: riccati_solve.c:33