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[wpimath] Remove Java LQR constructor that takes a controller gain matrix (#4419)

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The controller gain matrix K should be computed from the solution to the
DARE, but this constructor does not do that. It effectively violates a
postcondition enforced by the other constructors by letting the user
throw in a controller gain matrix that didn't come from an LQR.

Removing this constructor is a breaking change, but it never should have
been included in the class in the first place. There's also no valid
reason to use it. I assume it was originally added for debugging the
class internals.

This constructor does not exist in C++.
This commit is contained in:
Tyler Veness
2022-09-17 00:18:08 -07:00
committed by GitHub
parent ab1baf4832
commit fdfb85f695
1 changed files with 0 additions and 19 deletions
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19
wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
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@@ -7,7 +7,6 @@ package edu.wpi.first.math.controller;
import edu.wpi.first.math.Drake;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.Num;
import edu.wpi.first.math.StateSpaceUtil;
import edu.wpi.first.math.Vector;
@@ -175,24 +174,6 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
reset();
}
/**
* Constructs a controller with the given coefficients and plant.
*
* @param states The number of states.
* @param inputs The number of inputs.
* @param k The gain matrix.
*/
@SuppressWarnings("ParameterName")
public LinearQuadraticRegulator(
Nat<States> states, Nat<Inputs> inputs, Matrix<Inputs, States> k) {
m_K = k;
m_r = new Matrix<>(states, Nat.N1());
m_u = new Matrix<>(inputs, Nat.N1());
reset();
}
/**
* Returns the control input vector u.
*