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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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24
wpimath/src/main/native/cpp/jni/DAREJNI.cpp
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@@ -20,11 +20,11 @@ extern "C" {
/*
* Class: edu_wpi_first_math_jni_DAREJNI
* Method: dareDetailABQR
* Method: dareNoPrecondABQR
* Signature: ([D[D[D[DII[D)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_math_jni_DAREJNI_dareDetailABQR
Java_edu_wpi_first_math_jni_DAREJNI_dareNoPrecondABQR
(JNIEnv* env, jclass, jdoubleArray A, jdoubleArray B, jdoubleArray Q,
jdoubleArray R, jint states, jint inputs, jdoubleArray S)
{
@@ -46,22 +46,20 @@ Java_edu_wpi_first_math_jni_DAREJNI_dareDetailABQR
Eigen::RowMajor>>
Rmat{nativeR.data(), inputs, inputs};
Eigen::MatrixXd RmatCopy{Rmat};
auto R_llt = RmatCopy.llt();
auto result = frc::detail::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat,
Qmat, R_llt);
auto result =
frc::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat, Rmat, false)
.value();
env->SetDoubleArrayRegion(S, 0, states * states, result.data());
}
/*
* Class: edu_wpi_first_math_jni_DAREJNI
* Method: dareDetailABQRN
* Method: dareNoPrecondABQRN
* Signature: ([D[D[D[D[DII[D)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_math_jni_DAREJNI_dareDetailABQRN
Java_edu_wpi_first_math_jni_DAREJNI_dareNoPrecondABQRN
(JNIEnv* env, jclass, jdoubleArray A, jdoubleArray B, jdoubleArray Q,
jdoubleArray R, jdoubleArray N, jint states, jint inputs, jdoubleArray S)
{
@@ -87,11 +85,9 @@ Java_edu_wpi_first_math_jni_DAREJNI_dareDetailABQRN
Eigen::RowMajor>>
Nmat{nativeN.data(), states, inputs};
Eigen::MatrixXd Rcopy{Rmat};
auto R_llt = Rcopy.llt();
auto result = frc::detail::DARE<Eigen::Dynamic, Eigen::Dynamic>(
Amat, Bmat, Qmat, R_llt, Nmat);
auto result = frc::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat,
Rmat, Nmat, false)
.value();
env->SetDoubleArrayRegion(S, 0, states * states, result.data());
}