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[wpimath] Document LQR and KalmanFilter exceptions (#4418)

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This commit is contained in:
Tyler Veness
2022-09-17 00:16:40 -07:00
committed by GitHub
parent 5b656eecf6
commit 9730032866
4 changed files with 10 additions and 0 deletions
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wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
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@@ -40,6 +40,7 @@ class LinearQuadraticRegulator {
* @param Qelems The maximum desired error tolerance for each state.
* @param Relems The maximum desired control effort for each input.
* @param dt Discretization timestep.
* @throws std::invalid_argument If the system is uncontrollable.
*/
template <int Outputs>
LinearQuadraticRegulator(const LinearSystem<States, Inputs, Outputs>& plant,
@@ -54,6 +55,7 @@ class LinearQuadraticRegulator {
* @param Qelems The maximum desired error tolerance for each state.
* @param Relems The maximum desired control effort for each input.
* @param dt Discretization timestep.
* @throws std::invalid_argument If the system is uncontrollable.
*/
LinearQuadraticRegulator(const Matrixd<States, States>& A,
const Matrixd<States, Inputs>& B,
@@ -68,6 +70,7 @@ class LinearQuadraticRegulator {
* @param Q The state cost matrix.
* @param R The input cost matrix.
* @param dt Discretization timestep.
* @throws std::invalid_argument If the system is uncontrollable.
*/
LinearQuadraticRegulator(const Matrixd<States, States>& A,
const Matrixd<States, Inputs>& B,
@@ -84,6 +87,7 @@ class LinearQuadraticRegulator {
* @param R The input cost matrix.
* @param N The state-input cross-term cost matrix.
* @param dt Discretization timestep.
* @throws std::invalid_argument If the system is uncontrollable.
*/
LinearQuadraticRegulator(const Matrixd<States, States>& A,
const Matrixd<States, Inputs>& B,