31 lines
774 B
C
31 lines
774 B
C
//
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// Created by SJQ on 2023/12/29.
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//
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#ifndef WHEEL_LEGGED_LQR_OLD_H
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#define WHEEL_LEGGED_LQR_OLD_H
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#include "user_lib.h"
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typedef struct
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{
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float* state_vector;
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float* control_vector;
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float* state_cmd;
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int state_num; //状态量维数
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int control_num; //控制量维数
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mat control_matrix; //其实是向量 定义成矩阵方便计算 @todo：更新DSP库 新版本库支持矩阵直接乘数组
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mat state_matrix;
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mat state_cmd_matrix;
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mat state_err;
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mat K_matrix;
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}LQRInstance;
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void LQR_Init(LQRInstance* lqrInstance,int state_cnt,int control_cnt);
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void LQR_update(LQRInstance* lqrInstance,float* new_state,float* target_state);
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void LQR_set_K(LQRInstance* lqrInstance, float *K_value);
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#endif //WHEEL_LEGGED_LQR_OLD_H
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