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[wpimath] Upgrade to EJML 0.42 (#5531)

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This commit is contained in:
Tyler Veness
2023-08-11 23:25:43 -07:00
committed by GitHub
parent faf3cecd83
commit 00450c3548
6 changed files with 39 additions and 39 deletions
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12
wpimath/src/main/java/edu/wpi/first/math/DARE.java
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@@ -21,14 +21,14 @@ public final class DARE {
* @return Solution of DARE.
*/
public static SimpleMatrix dare(SimpleMatrix A, SimpleMatrix B, SimpleMatrix Q, SimpleMatrix R) {
var S = new SimpleMatrix(A.numRows(), A.numCols());
var S = new SimpleMatrix(A.getNumRows(), A.getNumCols());
WPIMathJNI.dare(
A.getDDRM().getData(),
B.getDDRM().getData(),
Q.getDDRM().getData(),
R.getDDRM().getData(),
A.numCols(),
B.numCols(),
A.getNumCols(),
B.getNumCols(),
S.getDDRM().getData());
return S;
}
@@ -70,14 +70,14 @@ public final class DARE {
var scrA = A.minus(B.mult(R.solve(N.transpose())));
var scrQ = Q.minus(N.mult(R.solve(N.transpose())));
var S = new SimpleMatrix(A.numRows(), A.numCols());
var S = new SimpleMatrix(A.getNumRows(), A.getNumCols());
WPIMathJNI.dare(
scrA.getDDRM().getData(),
B.getDDRM().getData(),
scrQ.getDDRM().getData(),
R.getDDRM().getData(),
A.numCols(),
B.numCols(),
A.getNumCols(),
B.getNumCols(),
S.getDDRM().getData());
return S;
}