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[wpimath] Add LQR template specialization for 2x2 system

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A differential drive has this dimensionality (2 velocity states and 2
voltage inputs).
This commit is contained in:
Tyler Veness
2021-06-01 12:26:11 -07:00
committed by Peter Johnson
parent edd2f0232c
commit a5c471af7e
2 changed files with 55 additions and 0 deletions
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36
wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h
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@@ -388,4 +388,40 @@ class LinearQuadraticRegulator<2, 1>
LinearQuadraticRegulator& operator=(LinearQuadraticRegulator&&) = default;
};
// Template specializations are used here to make common state-input pairs
// compile faster.
template <>
class LinearQuadraticRegulator<2, 2>
: public detail::LinearQuadraticRegulatorImpl<2, 2> {
public:
template <int Outputs>
LinearQuadraticRegulator(const LinearSystem<2, 2, Outputs>& plant,
const wpi::array<double, 2>& Qelems,
const wpi::array<double, 2>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(plant.A(), plant.B(), Qelems, Relems, dt) {}
LinearQuadraticRegulator(const Eigen::Matrix<double, 2, 2>& A,
const Eigen::Matrix<double, 2, 2>& B,
const wpi::array<double, 2>& Qelems,
const wpi::array<double, 2>& Relems,
units::second_t dt);
LinearQuadraticRegulator(const Eigen::Matrix<double, 2, 2>& A,
const Eigen::Matrix<double, 2, 2>& B,
const Eigen::Matrix<double, 2, 2>& Q,
const Eigen::Matrix<double, 2, 2>& R,
units::second_t dt);
LinearQuadraticRegulator(const Eigen::Matrix<double, 2, 2>& A,
const Eigen::Matrix<double, 2, 2>& B,
const Eigen::Matrix<double, 2, 2>& Q,
const Eigen::Matrix<double, 2, 2>& R,
const Eigen::Matrix<double, 2, 2>& N,
units::second_t dt);
LinearQuadraticRegulator(LinearQuadraticRegulator&&) = default;
LinearQuadraticRegulator& operator=(LinearQuadraticRegulator&&) = default;
};
} // namespace frc