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[wpimath] Print uncontrollable/unobservable models in LQR and KF (#3694)

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IsDetectable() was added to make the code easier to read.
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Tyler Veness
2021-10-29 00:03:02 -07:00
committed by GitHub
parent d5270d113b
commit a939cd9c89
12 changed files with 169 additions and 47 deletions
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wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
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@@ -79,9 +79,9 @@ public final class WPIMathJNI {
/**
* Returns true if (A, B) is a stabilizable pair.
*
* <p>(A,B) is stabilizable if and only if the uncontrollable eigenvalues of A, if any, have
* <p>(A, B) is stabilizable if and only if the uncontrollable eigenvalues of A, if any, have
* absolute values less than one, where an eigenvalue is uncontrollable if rank(lambda * I - A, B)
* &lt; n where n is number of states.
* &lt; n where n is the number of states.
*
* @param states the number of states of the system.
* @param inputs the number of inputs to the system.