mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
44abc8dfa6
This reduces commit noise when other git versions are used. The version was removed by passing `--no-signature` to `git format-patch` which is now documented in the readme.
38 lines
1.4 KiB
Diff
38 lines
1.4 KiB
Diff
From 7dfb527524f42488a00cf156ada36c51d5e13b3f 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 df7a58b2b8..55b8442bf4 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,
|