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[wpimath] Only compute eigenvalues with EigenSolvers (#5369)

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We don't need the eigenvectors, so we're doing a lot of extra work we
don't need to.
This commit is contained in:
Tyler Veness
2023-06-07 09:47:09 -07:00
committed by GitHub
parent d3c9316a97
commit 5acc5e22aa
5 changed files with 16 additions and 10 deletions
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2
wpimath/src/main/native/include/frc/StateSpaceUtil.h
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@@ -56,7 +56,7 @@ void WhiteNoiseVectorImpl(Matrix& result, T elem, Ts... elems) {
template <int States, int Inputs>
bool IsStabilizableImpl(const Matrixd<States, States>& A,
const Matrixd<States, Inputs>& B) {
Eigen::EigenSolver<Matrixd<States, States>> es{A};
Eigen::EigenSolver<Matrixd<States, States>> es{A, false};
for (int i = 0; i < States; ++i) {
if (es.eigenvalues()[i].real() * es.eigenvalues()[i].real() +