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[wpimath] Add tests for DARE overload with Q, R, and N matrices (#3472)

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The autodiff headers weren't used by the tests, so they were removed.
This commit is contained in:
Tyler Veness
2021-07-09 22:41:33 -04:00
committed by GitHub
parent c002e6f926
commit 9fb4f35bb6
21 changed files with 224 additions and 1778 deletions
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24
wpimath/drake-replace-dense-with-core.patch
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@@ -38,3 +38,27 @@ index b64bfe75e..fc5efb313 100644
namespace drake {
namespace math {
diff --git b/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp a/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp
index 74aa4b23d..2deb039a0 100644
--- b/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp
+++ a/wpimath/src/test/native/cpp/drake/discrete_algebraic_riccati_equation_test.cpp
@@ -1,5 +1,6 @@
#include "drake/math/discrete_algebraic_riccati_equation.h"
+#include <Eigen/Eigenvalues>
#include <gtest/gtest.h>
#include "drake/common/test_utilities/eigen_matrix_compare.h"
diff --git b/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h a/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h
index e3bd85349..d6bcbb8ec 100644
--- b/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h
+++ a/wpimath/src/test/native/include/drake/common/test_utilities/eigen_matrix_compare.h
@@ -4,7 +4,7 @@
#include <cmath>
#include <limits>
-#include <Eigen/Dense>
+#include <Eigen/Core>
#include <gtest/gtest.h>
// #include "drake/common/text_logging.h"