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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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50
wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "frc/controller/LinearQuadraticRegulator.h"
namespace frc {
LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B,
const std::array<double, 1>& Qelems, const std::array<double, 1>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(A, B, Qelems, 1.0, Relems, dt) {}
LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B,
const std::array<double, 1>& Qelems, const double rho,
const std::array<double, 1>& Relems, units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<1, 1>{A, B, Qelems,
rho, Relems, dt} {}
LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B,
const Eigen::Matrix<double, 1, 1>& Q, const Eigen::Matrix<double, 1, 1>& R,
units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<1, 1>(A, B, Q, R, dt) {}
LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
const std::array<double, 2>& Qelems, const std::array<double, 1>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(A, B, Qelems, 1.0, Relems, dt) {}
LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
const std::array<double, 2>& Qelems, const double rho,
const std::array<double, 1>& Relems, units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<2, 1>{A, B, Qelems,
rho, Relems, dt} {}
LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
const Eigen::Matrix<double, 2, 2>& Q, const Eigen::Matrix<double, 1, 1>& R,
units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<2, 1>(A, B, Q, R, dt) {}
} // namespace frc