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[wpimath] Add static matrix support to DARE solver (#5536)

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Using static matrices where possible results in a 2x performance
improvement.
This commit is contained in:
Tyler Veness
2023-08-14 09:15:58 -07:00
committed by GitHub
parent 394cfeadbd
commit 03764dfe93
9 changed files with 354 additions and 436 deletions
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4
wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.inc
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@@ -51,7 +51,7 @@ LinearQuadraticRegulator<States, Inputs>::LinearQuadraticRegulator(
throw std::invalid_argument(msg);
}
Matrixd<States, States> S = DARE(discA, discB, Q, R);
Matrixd<States, States> S = DARE<States, Inputs>(discA, discB, Q, R);
// K = (BᵀSB + R)⁻¹BᵀSA
m_K = (discB.transpose() * S * discB + R)
@@ -70,7 +70,7 @@ LinearQuadraticRegulator<States, Inputs>::LinearQuadraticRegulator(
Matrixd<States, Inputs> discB;
DiscretizeAB<States, Inputs>(A, B, dt, &discA, &discB);
Matrixd<States, States> S = DARE(discA, discB, Q, R, N);
Matrixd<States, States> S = DARE<States, Inputs>(discA, discB, Q, R, N);
// K = (BᵀSB + R)⁻¹(BᵀSA + Nᵀ)
m_K = (discB.transpose() * S * discB + R)