From a750bee54df236e21bca45a2c4a4c8f80b279b98 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Thu, 31 Aug 2023 22:52:18 -0700
Subject: [PATCH] [wpimath] Use std::norm() in IsStabilizable() (#5599)

---
 wpimath/src/main/native/include/frc/StateSpaceUtil.h | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/wpimath/src/main/native/include/frc/StateSpaceUtil.h b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
index 8c2ac65481..3aa2e75330 100644
--- a/wpimath/src/main/native/include/frc/StateSpaceUtil.h
+++ b/wpimath/src/main/native/include/frc/StateSpaceUtil.h
@@ -59,9 +59,7 @@ bool IsStabilizableImpl(const Matrixd<States, States>& A,
   Eigen::EigenSolver<Matrixd<States, States>> es{A, false};
 
   for (int i = 0; i < A.rows(); ++i) {
-    if (es.eigenvalues()[i].real() * es.eigenvalues()[i].real() +
-            es.eigenvalues()[i].imag() * es.eigenvalues()[i].imag() <
-        1) {
+    if (std::norm(es.eigenvalues()[i]) < 1) {
       continue;
     }