Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Remove redundant internal DARE function (#7442)

Browse Source
This commit is contained in:
Tyler Veness
2024-11-28 21:24:13 -08:00
committed by GitHub
parent f377a9c573
commit a0af0fd572
6 changed files with 18 additions and 105 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
wpimath/src/main/java/edu/wpi/first/math/DARE.java
View File

@@ -38,13 +38,13 @@ public final class DARE {
* @param R Input cost matrix.
* @return Solution of DARE.
*/
public static <States extends Num, Inputs extends Num> Matrix<States, States> dareDetail(
public static <States extends Num, Inputs extends Num> Matrix<States, States> dareNoPrecond(
Matrix<States, States> A,
Matrix<States, Inputs> B,
Matrix<States, States> Q,
Matrix<Inputs, Inputs> R) {
var S = new Matrix<States, States>(new SimpleMatrix(A.getNumRows(), A.getNumCols()));
DAREJNI.dareDetailABQR(
DAREJNI.dareNoPrecondABQR(
A.getStorage().getDDRM().getData(),
B.getStorage().getDDRM().getData(),
Q.getStorage().getDDRM().getData(),
@@ -115,14 +115,14 @@ public final class DARE {
* @param N State-input cross-term cost matrix.
* @return Solution of DARE.
*/
public static <States extends Num, Inputs extends Num> Matrix<States, States> dareDetail(
public static <States extends Num, Inputs extends Num> Matrix<States, States> dareNoPrecond(
Matrix<States, States> A,
Matrix<States, Inputs> B,
Matrix<States, States> Q,
Matrix<Inputs, Inputs> R,
Matrix<States, Inputs> N) {
var S = new Matrix<States, States>(new SimpleMatrix(A.getNumRows(), A.getNumCols()));
DAREJNI.dareDetailABQRN(
DAREJNI.dareNoPrecondABQRN(
A.getStorage().getDDRM().getData(),
B.getStorage().getDDRM().getData(),
Q.getStorage().getDDRM().getData(),

2
wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
View File

@@ -163,7 +163,7 @@ public class LTVDifferentialDriveController {
var discA = discABPair.getFirst();
var discB = discABPair.getSecond();
var S = DARE.dareDetail(discA, discB, Q, R);
var S = DARE.dareNoPrecond(discA, discB, Q, R);
// K = (BᵀSB + R)⁻¹BᵀSA
m_table.put(

2
wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
View File

@@ -166,7 +166,7 @@ public class LTVUnicycleController {
var discA = discABPair.getFirst();
var discB = discABPair.getSecond();
var S = DARE.dareDetail(discA, discB, Q, R);
var S = DARE.dareNoPrecond(discA, discB, Q, R);
// K = (BᵀSB + R)⁻¹BᵀSA
m_table.put(

4
wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java
View File

@@ -32,7 +32,7 @@ public final class DAREJNI extends WPIMathJNI {
* @param inputs Number of inputs in B matrix.
* @param S Array storage for DARE solution.
*/
public static native void dareDetailABQR(
public static native void dareNoPrecondABQR(
double[] A, double[] B, double[] Q, double[] R, int states, int inputs, double[] S);
/**
@@ -87,7 +87,7 @@ public final class DAREJNI extends WPIMathJNI {
* @param inputs Number of inputs in B matrix.
* @param S Array storage for DARE solution.
*/
public static native void dareDetailABQRN(
public static native void dareNoPrecondABQRN(
double[] A,
double[] B,
double[] Q,