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[wpimath] Fix DARE Q decomposition (#5611)

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This commit is contained in:
Tyler Veness
2023-09-05 10:48:43 -07:00
committed by GitHub
parent 9b3f7fb548
commit 1a6df6fec6
5 changed files with 49 additions and 8 deletions
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4
wpimath/src/test/native/cpp/controller/LinearQuadraticRegulatorTest.cpp
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@@ -158,10 +158,10 @@ TEST(LinearQuadraticRegulatorTest, MatrixOverloadsWithDoubleIntegrator) {
EXPECT_NEAR(0.51182128351092726, K(0, 1), 1e-10);
// QRN overload
Matrixd<2, 2> Aref{{0, 1}, {0, -Kv / (Ka * 2.0)}};
Matrixd<2, 2> Aref{{0, 1}, {0, -Kv / (Ka * 5.0)}};
Matrixd<1, 2> Kimf = GetImplicitModelFollowingK<2, 1>(A, B, Q, R, Aref, 5_ms);
EXPECT_NEAR(0.0, Kimf(0, 0), 1e-10);
EXPECT_NEAR(-5.367540084534802e-05, Kimf(0, 1), 1e-10);
EXPECT_NEAR(-6.9190500116751458e-05, Kimf(0, 1), 1e-10);
}
TEST(LinearQuadraticRegulatorTest, LatencyCompensate) {