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

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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
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8
wpimath/src/main/java/edu/wpi/first/math/DARE.java
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@@ -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(),