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[wpimath] Add core State-space classes (#2614)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
This commit is contained in:
Matt
2020-08-14 23:40:33 -07:00
committed by GitHub
parent e5b84e2f87
commit 3b283ab9aa
84 changed files with 11747 additions and 174 deletions
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17
wpimath/src/main/java/edu/wpi/first/math/Drake.java
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@@ -10,6 +10,7 @@ package edu.wpi.first.math;
import org.ejml.simple.SimpleMatrix;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Num;
public final class Drake {
private Drake() {
@@ -46,13 +47,13 @@ public final class Drake {
* @param R Input cost matrix.
* @return Solution of DARE.
*/
@SuppressWarnings("ParameterName")
public static SimpleMatrix discreteAlgebraicRiccatiEquation(
Matrix A,
Matrix B,
Matrix Q,
Matrix R) {
return discreteAlgebraicRiccatiEquation(A.getStorage(), B.getStorage(), Q.getStorage(),
R.getStorage());
@SuppressWarnings({"ParameterName", "MethodTypeParameterName"})
public static <States extends Num, Inputs extends Num> Matrix<States, States>
discreteAlgebraicRiccatiEquation(Matrix<States, States> A,
Matrix<States, Inputs> B,
Matrix<States, States> Q,
Matrix<Inputs, Inputs> R) {
return new Matrix<>(discreteAlgebraicRiccatiEquation(A.getStorage(), B.getStorage(),
Q.getStorage(), R.getStorage()));
}
}