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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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54
wpimath/src/test/java/edu/wpi/first/math/DARETest.java
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@@ -223,7 +223,17 @@ class DARETest extends UtilityClassTest<DARE> {
}
@Test
void testQNotSymmetricPositiveSemidefinite_ABQR() {
void testQNotSymmetric_ABQR() {
var A = Matrix.eye(Nat.N2());
var B = Matrix.eye(Nat.N2());
var Q = new Matrix<>(Nat.N2(), Nat.N2(), new double[] {1.0, 1.0, 0.0, 1.0});
var R = Matrix.eye(Nat.N2());
assertThrows(IllegalArgumentException.class, () -> DARE.dare(A, B, Q, R));
}
@Test
void testQNotPositiveSemidefinite_ABQR() {
var A = Matrix.eye(Nat.N2());
var B = Matrix.eye(Nat.N2());
var Q = new Matrix<>(Nat.N2(), Nat.N2(), new double[] {-1.0, 0.0, 0.0, -1.0});
@@ -233,18 +243,39 @@ class DARETest extends UtilityClassTest<DARE> {
}
@Test
void testQNotSymmetricPositiveSemidefinite_ABQRN() {
void testQNotSymmetric_ABQRN() {
var A = Matrix.eye(Nat.N2());
var B = Matrix.eye(Nat.N2());
var Q = Matrix.eye(Nat.N2());
var R = new Matrix<>(Nat.N2(), Nat.N2(), new double[] {-1.0, 0.0, 0.0, -1.0});
var Q = new Matrix<>(Nat.N2(), Nat.N2(), new double[] {1.0, 1.0, 0.0, 1.0});
var R = Matrix.eye(Nat.N2());
var N = new Matrix<>(Nat.N2(), Nat.N2(), new double[] {2.0, 0.0, 0.0, 2.0});
assertThrows(IllegalArgumentException.class, () -> DARE.dare(A, B, Q, R, N));
}
@Test
void testRNotSymmetricPositiveDefinite_ABQR() {
void testQNotPositiveSemidefinite_ABQRN() {
var A = Matrix.eye(Nat.N2());
var B = Matrix.eye(Nat.N2());
var Q = Matrix.eye(Nat.N2());
var R = Matrix.eye(Nat.N2());
var N = new Matrix<>(Nat.N2(), Nat.N2(), new double[] {2.0, 0.0, 0.0, 2.0});
assertThrows(IllegalArgumentException.class, () -> DARE.dare(A, B, Q, R, N));
}
@Test
void testRNotSymmetric_ABQR() {
var A = Matrix.eye(Nat.N2());
var B = Matrix.eye(Nat.N2());
var Q = Matrix.eye(Nat.N2());
var R = new Matrix<>(Nat.N2(), Nat.N2(), new double[] {1.0, 1.0, 0.0, 1.0});
assertThrows(IllegalArgumentException.class, () -> DARE.dare(A, B, Q, R));
}
@Test
void testRNotPositiveDefinite_ABQR() {
var A = Matrix.eye(Nat.N2());
var B = Matrix.eye(Nat.N2());
var Q = Matrix.eye(Nat.N2());
@@ -257,7 +288,18 @@ class DARETest extends UtilityClassTest<DARE> {
}
@Test
void testRNotSymmetricPositiveDefinite_ABQRN() {
void testRNotSymmetric_ABQRN() {
var A = Matrix.eye(Nat.N2());
var B = Matrix.eye(Nat.N2());
var Q = Matrix.eye(Nat.N2());
var N = Matrix.eye(Nat.N2());
var R = new Matrix<>(Nat.N2(), Nat.N2(), new double[] {1.0, 1.0, 0.0, 1.0});
assertThrows(IllegalArgumentException.class, () -> DARE.dare(A, B, Q, R, N));
}
@Test
void testRNotPositiveDefinite_ABQRN() {
var A = Matrix.eye(Nat.N2());
var B = Matrix.eye(Nat.N2());
var Q = Matrix.eye(Nat.N2());