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[wpimath] Clean up rank notation in docs (NFC) (#5274)

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This commit is contained in:
Tyler Veness
2023-04-28 20:52:29 -07:00
committed by GitHub
parent fd2d8cb9c1
commit e099948a77
2 changed files with 4 additions and 4 deletions
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4
wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
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@@ -90,7 +90,7 @@ public final class StateSpaceUtil {
* 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
* absolute values less than one, where an eigenvalue is uncontrollable if rank(λI - A, B) %3C n
* absolute values less than one, where an eigenvalue is uncontrollable if rank([λI - A, B]) %3C n
* where n is the number of states.
*
* @param <States> Num representing the size of A.
@@ -108,7 +108,7 @@ public final class StateSpaceUtil {
* Returns true if (A, C) is a detectable pair.
*
* <p>(A, C) is detectable if and only if the unobservable eigenvalues of A, if any, have absolute
* values less than one, where an eigenvalue is unobservable if rank(λI - A; C) %3C n where n is
* values less than one, where an eigenvalue is unobservable if rank([λI - A; C]) %3C n where n is
* the number of states.
*
* @param <States> Num representing the size of A.

4
wpimath/src/main/native/include/frc/StateSpaceUtil.h
View File

@@ -243,7 +243,7 @@ Vectord<4> PoseTo4dVector(const Pose2d& pose);
*
* (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(λI - A, B) < n where n is the number of states.
* uncontrollable if rank([λI - A, B]) < n where n is the number of states.
*
* @tparam States The number of states.
* @tparam Inputs The number of inputs.
@@ -261,7 +261,7 @@ bool IsStabilizable(const Matrixd<States, States>& A,
*
* (A, C) is detectable if and only if the unobservable eigenvalues of A, if
* any, have absolute values less than one, where an eigenvalue is unobservable
* if rank(λI - A; C) < n where n is the number of states.
* if rank([λI - A; C]) < n where n is the number of states.
*
* @tparam States The number of states.
* @tparam Outputs The number of outputs.