4 Commits

Author	SHA1	Message	Date
Tyler Veness	394cfeadbd	[wpimath] Use SDA algorithm instead of SSCA for DARE solver (#5526) ... Both seem to work, but the SDA algorithm is specifically recommended for solving DAREs as opposed to P-DAREs. The QR decomposition was replaced with a partial pivoting LU decomposition at the recommendation of section 2.4 of the paper. More tests and a separate JNI function for each DARE solver variant were added.	2023-08-12 19:45:45 -07:00
Tyler Veness	00450c3548	[wpimath] Upgrade to EJML 0.42 (#5531)	2023-08-11 23:25:43 -07:00
Ryan Blue	901ab693d4	[wpimath] Use UtilityClassTest for more utility classes (#5384)	2023-06-08 21:11:26 -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