PDP-LQR

This repository contains the code for the paper titled "Parallel Dynamic Programming for Conic Linear Quadratic Control".

Overview

PDP-LQR is a library for solving Linear Quadratic (LQ) problems using parallel dynamic programming algorithms. The full code will be released soon.

Dependencies

• CMake (3.21 or later)
• C++17 compiler
• Eigen3 (3.3 or later)

sudo apt update
sudo apt install libeigen3-dev

• OpenMP (for parallel algorithms)
• QDLDL

git clone https://github.com/osqp/qdldl.git
cd qdldl
mkdir build && cd build
cmake ..
cmake --build .
cmake --install .

Installation

Using CMake

git clone https://github.com/Luyao787/PDP-LQR.git
cd PDP-LQR
mkdir build && cd build
cmake ..
cmake --build .
cmake --install .

Using the library in your project

With CMake

Add to your CMakeLists.txt:

find_package(pdpLQR REQUIRED)
target_link_libraries(your_target pdpLQR::pdpLQR)

Examples

Build and run examples:

cmake -DBUILD_EXAMPLES=ON ..
cmake --build .
./examples/lqr_example