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[wpimath] Fix docs for DARE ABQRN stabilizability check (NFC) (#5579)

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Tyler Veness
2023-08-28 15:10:42 -07:00
committed by GitHub
parent 360fb835f4
commit e322ab8e46
3 changed files with 6 additions and 6 deletions
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4
wpimath/src/main/java/edu/wpi/first/math/DARE.java
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@@ -90,7 +90,7 @@ public final class DARE {
* <ul>
* <li>Q − NR⁻¹Nᵀ isn't symmetric positive semidefinite
* <li>R isn't symmetric positive definite
* <li>The (A, B) pair isn't stabilizable
* <li>The (A − BR⁻¹Nᵀ, B) pair isn't stabilizable
* <li>The (A, C) pair where Q = CᵀC isn't detectable
* </ul>
*
@@ -199,7 +199,7 @@ public final class DARE {
* @return Solution of DARE.
* @throws IllegalArgumentException if Q − NR⁻¹Nᵀ isn't symmetric positive semidefinite.
* @throws IllegalArgumentException if R isn't symmetric positive definite.
* @throws IllegalArgumentException if the (A, B) pair isn't stabilizable.
* @throws IllegalArgumentException if the (A − BR⁻¹Nᵀ, B) pair isn't stabilizable.
* @throws IllegalArgumentException if the (A, C) pair where Q = CᵀC isn't detectable.
*/
public static <States extends Num, Inputs extends Num> Matrix<States, States> dare(

4
wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
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@@ -109,7 +109,7 @@ public final class WPIMathJNI {
* <ul>
* <li>Q − NR⁻¹Nᵀ isn't symmetric positive semidefinite
* <li>R isn't symmetric positive definite
* <li>The (A, B) pair isn't stabilizable
* <li>The (A − BR⁻¹Nᵀ, B) pair isn't stabilizable
* <li>The (A, C) pair where Q = CᵀC isn't detectable
* </ul>
*
@@ -195,7 +195,7 @@ public final class WPIMathJNI {
* @param S Array storage for DARE solution.
* @throws IllegalArgumentException if Q − NR⁻¹Nᵀ isn't symmetric positive semidefinite.
* @throws IllegalArgumentException if R isn't symmetric positive definite.
* @throws IllegalArgumentException if the (A, B) pair isn't stabilizable.
* @throws IllegalArgumentException if the (A − BR⁻¹Nᵀ, B) pair isn't stabilizable.
* @throws IllegalArgumentException if the (A, C) pair where Q = CᵀC isn't detectable.
*/
public static native void dareABQRN(

4
wpimath/src/main/native/include/frc/DARE.h
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@@ -213,7 +213,7 @@ performance. The solver may hang if any of the following occur:
<ul>
<li>Q − NR⁻¹Nᵀ isn't symmetric positive semidefinite</li>
<li>R isn't symmetric positive definite</li>
<li>The (A, B) pair isn't stabilizable</li>
<li>The (A − BR⁻¹Nᵀ, B) pair isn't stabilizable</li>
<li>The (A, C) pair where Q = CᵀC isn't detectable</li>
</ul>
Only use this function if you're sure the preconditions are met.
@@ -336,7 +336,7 @@ J = Σ [uₖ] [0 R][uₖ] ΔT
@throws std::invalid_argument if Q − NR⁻¹Nᵀ isn't symmetric positive
semidefinite.
@throws std::invalid_argument if R isn't symmetric positive definite.
@throws std::invalid_argument if the (A, B) pair isn't stabilizable.
@throws std::invalid_argument if the (A − BR⁻¹Nᵀ, B) pair isn't stabilizable.
@throws std::invalid_argument if the (A, C) pair where Q = CᵀC isn't detectable.
*/
template <int States, int Inputs>