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https://github.com/wpilibsuite/allwpilib
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35790a8990
It was added as part of Bryson's rule described in https://file.tavsys.net/control/controls-engineering-in-frc.pdf. It doesn't really simplify usage though, and the same thing can be replicated by multiplying the elements of Q by rho manually. It's easier to do it that way, it's how 3512 has been doing controller debugging for a while, and it's probably what other teams will do as well instead of using the "more structured" way. Removing these unhelpful overloads also simplifies the LQR interface.
39 lines
1.9 KiB
C++
39 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/controller/LinearQuadraticRegulator.h"
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namespace frc {
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LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
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const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B,
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const std::array<double, 1>& Qelems, const std::array<double, 1>& Relems,
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units::second_t dt)
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: LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
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MakeCostMatrix(Relems), dt) {}
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LinearQuadraticRegulator<1, 1>::LinearQuadraticRegulator(
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const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B,
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const Eigen::Matrix<double, 1, 1>& Q, const Eigen::Matrix<double, 1, 1>& R,
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units::second_t dt)
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: detail::LinearQuadraticRegulatorImpl<1, 1>(A, B, Q, R, dt) {}
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LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
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const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
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const std::array<double, 2>& Qelems, const std::array<double, 1>& Relems,
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units::second_t dt)
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: LinearQuadraticRegulator(A, B, MakeCostMatrix(Qelems),
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MakeCostMatrix(Relems), dt) {}
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LinearQuadraticRegulator<2, 1>::LinearQuadraticRegulator(
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const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B,
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const Eigen::Matrix<double, 2, 2>& Q, const Eigen::Matrix<double, 1, 1>& R,
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units::second_t dt)
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: detail::LinearQuadraticRegulatorImpl<2, 1>(A, B, Q, R, dt) {}
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} // namespace frc
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