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https://github.com/wpilibsuite/allwpilib
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51 lines
2.5 KiB
C++
51 lines
2.5 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/controller/LinearQuadraticRegulator.h"
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namespace frc {
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LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
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const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B,
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const std::array<double, 1>& Qelems, const std::array<double, 1>& Relems,
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units::second_t dt)
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: LinearQuadraticRegulator(A, B, Qelems, 1.0, Relems, dt) {}
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LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
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const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B,
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const std::array<double, 1>& Qelems, const double rho,
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const std::array<double, 1>& Relems, units::second_t dt)
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: detail::LinearQuadraticRegulatorImpl<1, 1>{A, B, Qelems,
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rho, Relems, dt} {}
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LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
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const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B,
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const Eigen::Matrix<double, 1, 1>& Q, const Eigen::Matrix<double, 1, 1>& R,
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units::second_t dt)
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: detail::LinearQuadraticRegulatorImpl<1, 1>(A, B, Q, R, dt) {}
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LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
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const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
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const std::array<double, 2>& Qelems, const std::array<double, 1>& Relems,
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units::second_t dt)
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: LinearQuadraticRegulator(A, B, Qelems, 1.0, Relems, dt) {}
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LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
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const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
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const std::array<double, 2>& Qelems, const double rho,
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const std::array<double, 1>& Relems, units::second_t dt)
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: detail::LinearQuadraticRegulatorImpl<2, 1>{A, B, Qelems,
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rho, Relems, dt} {}
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LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
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const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
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const Eigen::Matrix<double, 2, 2>& Q, const Eigen::Matrix<double, 1, 1>& R,
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units::second_t dt)
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: detail::LinearQuadraticRegulatorImpl<2, 1>(A, B, Q, R, dt) {}
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} // namespace frc
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