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[wpimath] LQR: Use extern template instead of Impl class

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This commit is contained in:
Peter Johnson
2022-04-29 23:29:17 -07:00
parent e767605e94
commit dac1429aa9
3 changed files with 151 additions and 312 deletions
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62
wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
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@@ -6,61 +6,11 @@
namespace frc {
LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
const Matrixd<1, 1>& A, const Matrixd<1, 1>& B,
const wpi::array<double, 1>& Qelems, const wpi::array<double, 1>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
MakeCostMatrix(Relems), dt) {}
LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(const Matrixd<1, 1>& A,
const Matrixd<1, 1>& B,
const Matrixd<1, 1>& Q,
const Matrixd<1, 1>& R,
units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<1, 1>(A, B, Q, R, dt) {}
LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
const Matrixd<1, 1>& A, const Matrixd<1, 1>& B, const Matrixd<1, 1>& Q,
const Matrixd<1, 1>& R, const Matrixd<1, 1>& N, units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<1, 1>(A, B, Q, R, N, dt) {}
LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
const Matrixd<2, 2>& A, const Matrixd<2, 1>& B,
const wpi::array<double, 2>& Qelems, const wpi::array<double, 1>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
MakeCostMatrix(Relems), dt) {}
LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(const Matrixd<2, 2>& A,
const Matrixd<2, 1>& B,
const Matrixd<2, 2>& Q,
const Matrixd<1, 1>& R,
units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<2, 1>(A, B, Q, R, dt) {}
LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
const Matrixd<2, 2>& A, const Matrixd<2, 1>& B, const Matrixd<2, 2>& Q,
const Matrixd<1, 1>& R, const Matrixd<2, 1>& N, units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<2, 1>(A, B, Q, R, N, dt) {}
LinearQuadraticRegulator<2, 2>::LinearQuadraticRegulator(
const Matrixd<2, 2>& A, const Matrixd<2, 2>& B,
const wpi::array<double, 2>& Qelems, const wpi::array<double, 2>& Relems,
units::second_t dt)
: LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
MakeCostMatrix(Relems), dt) {}
LinearQuadraticRegulator<2, 2>::LinearQuadraticRegulator(const Matrixd<2, 2>& A,
const Matrixd<2, 2>& B,
const Matrixd<2, 2>& Q,
const Matrixd<2, 2>& R,
units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<2, 2>(A, B, Q, R, dt) {}
LinearQuadraticRegulator<2, 2>::LinearQuadraticRegulator(
const Matrixd<2, 2>& A, const Matrixd<2, 2>& B, const Matrixd<2, 2>& Q,
const Matrixd<2, 2>& R, const Matrixd<2, 2>& N, units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<2, 2>(A, B, Q, R, N, dt) {}
template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
LinearQuadraticRegulator<1, 1>;
template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
LinearQuadraticRegulator<2, 1>;
template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
LinearQuadraticRegulator<2, 2>;
} // namespace frc