From b208372a18b37f6cbc49dd45d15adf63c9b60755 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Wed, 18 May 2022 11:15:27 -0700
Subject: [PATCH 2/2] Add WPILIB_DLLEXPORT to DARE function declarations

---
 math/discrete_algebraic_riccati_equation.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/math/discrete_algebraic_riccati_equation.h b/math/discrete_algebraic_riccati_equation.h
index df7a58b..55b8442 100644
--- a/math/discrete_algebraic_riccati_equation.h
+++ b/math/discrete_algebraic_riccati_equation.h
@@ -4,6 +4,7 @@
 #include <cstdlib>
 
 #include <Eigen/Core>
+#include <wpi/SymbolExports.h>
 
 namespace drake {
 namespace math {
@@ -21,6 +22,7 @@ Based on the Schur Vector approach outlined in this paper:
 "On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
 by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
 */
+WPILIB_DLLEXPORT
 Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
     const Eigen::Ref<const Eigen::MatrixXd>& A,
     const Eigen::Ref<const Eigen::MatrixXd>& B,
@@ -71,6 +73,7 @@ J = Σ [uₖ] [0 R][uₖ] ΔT
 @throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
 @throws std::runtime_error if R is not positive definite.
 */
+WPILIB_DLLEXPORT
 Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
     const Eigen::Ref<const Eigen::MatrixXd>& A,
     const Eigen::Ref<const Eigen::MatrixXd>& B,