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[wpimath] Add DARE solver for Q, R, and N with LQR ctor overloads

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This is useful for implementing implicit model following.
This commit is contained in:
Tyler Veness
2021-02-15 18:17:55 -08:00
committed by Peter Johnson
parent b2c3b2dd8e
commit edd2f0232c
6 changed files with 216 additions and 17 deletions
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12
wpimath/src/main/native/cpp/controller/LinearQuadraticRegulator.cpp
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@@ -19,6 +19,12 @@ LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<1, 1>(A, B, Q, R, dt) {}
LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B,
const Eigen::Matrix<double, 1, 1>& Q, const Eigen::Matrix<double, 1, 1>& R,
const Eigen::Matrix<double, 1, 1>& N, units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<1, 1>(A, B, Q, R, N, dt) {}
LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
const wpi::array<double, 2>& Qelems, const wpi::array<double, 1>& Relems,
@@ -32,4 +38,10 @@ LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<2, 1>(A, B, Q, R, dt) {}
LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
const Eigen::Matrix<double, 2, 2>& Q, const Eigen::Matrix<double, 1, 1>& R,
const Eigen::Matrix<double, 2, 1>& N, units::second_t dt)
: detail::LinearQuadraticRegulatorImpl<2, 1>(A, B, Q, R, N, dt) {}
} // namespace frc