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[wpimath] DARE: Use wpi::expected instead of exceptions (#7312)

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This commit is contained in:
Tyler Veness
2024-10-31 20:37:57 -07:00
committed by GitHub
parent 21980c7447
commit 9f6f267f5c
19 changed files with 717 additions and 399 deletions
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2
wpimath/src/main/native/cpp/controller/LTVDifferentialDriveController.cpp
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@@ -97,7 +97,7 @@ LTVDifferentialDriveController::LTVDifferentialDriveController(
Matrixd<5, 2> discB;
DiscretizeAB(A, B, dt, &discA, &discB);
Matrixd<5, 5> S = detail::DARE<5, 2>(discA, discB, Q, R_llt);
auto S = detail::DARE<5, 2>(discA, discB, Q, R_llt);
// K = (BᵀSB + R)⁻¹BᵀSA
m_table.insert(velocity, (discB.transpose() * S * discB + R)