5 Commits

Author	SHA1	Message	Date
Tyler Veness	03764dfe93	[wpimath] Add static matrix support to DARE solver (#5536) ... Using static matrices where possible results in a 2x performance improvement.	2023-08-14 09:15:58 -07:00
Tyler Veness	52bd5b972d	[wpimath] Rewrite DARE solver (#5328) ... I timed the DARE unit tests, and the new solver is 0 to 100% faster in all cases (that is, it's at least as fast as Drake's and up to 2x faster in some cases). The new solver is also much simpler, takes less time to compile, and drops the libwpimath.so size from 325 MB to 301 MB. I think most of the compilation time is coming from the eigenvalue decompositions used to enforce argument preconditions.	2023-05-14 22:23:00 -07:00
Tyler Veness	ab1baf4832	[wpimath] Add rotation matrix constructor to Rotation3d (#4413)	2022-09-17 00:17:30 -07:00
Tyler Veness	be2fedfe50	[wpimath] Add stdexcept include for std::invalid_argument (IWYU) (#4274)	2022-05-29 15:33:19 -07:00
Peter Johnson	dac1429aa9	[wpimath] LQR: Use extern template instead of Impl class	2022-04-30 20:38:55 -07:00