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Use unicode characters in docs equations (#3487)

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javac and javadoc needed the encoding set to UTF-8.
This commit is contained in:
Tyler Veness
2021-07-29 22:42:43 -07:00
committed by GitHub
parent 85748f2e6f
commit 3838cc4ec4
42 changed files with 216 additions and 170 deletions
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5
wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
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@@ -86,6 +86,8 @@ class LinearQuadraticRegulatorImpl {
Eigen::Matrix<double, States, States> S =
drake::math::DiscreteAlgebraicRiccatiEquation(discA, discB, Q, R);
// K = (BᵀSB + R)⁻¹BᵀSA
m_K = (discB.transpose() * S * discB + R)
.llt()
.solve(discB.transpose() * S * discA);
@@ -115,6 +117,8 @@ class LinearQuadraticRegulatorImpl {
Eigen::Matrix<double, States, States> S =
drake::math::DiscreteAlgebraicRiccatiEquation(discA, discB, Q, R, N);
// K = (BᵀSB + R)⁻¹(BᵀSA + Nᵀ)
m_K = (B.transpose() * S * B + R)
.llt()
.solve(discB.transpose() * S * discA + N.transpose());
@@ -225,6 +229,7 @@ class LinearQuadraticRegulatorImpl {
Eigen::Matrix<double, States, States> discA;
Eigen::Matrix<double, States, Inputs> discB;
DiscretizeAB<States, Inputs>(plant.A(), plant.B(), dt, &discA, &discB);
m_K = m_K * (discA - discB * m_K).pow(inputDelay / dt);
}