Design Principles

Solver type	Module	Optimal device	Arguments
Dynamic	diffilqrax.lqr	CPU	LQRParams
	diffilqrax.ilqr	CPU	ThetaParams, System
Differentiable	diffilqrax.diff_lqr	CPU/GPU	LQRParams
	diffilqrax.diff_ilqr	CPU/GPU	ThetaParams, System
Associative	diffilqrax.plqr	GPU	LQRParams
	diffilqrax.parallel_ilqr	GPU	ThetaParams, ParallelSystem

The layout of the modules are hierarchically structure outlined in the schematic below: