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https://github.com/wpilibsuite/allwpilib
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8bd614bb1e
This creates actual commits in the thirdparty repo, which makes rebasing them onto new versions much easier.
41 lines
1.4 KiB
Diff
41 lines
1.4 KiB
Diff
From 7dfb527524f42488a00cf156ada36c51d5e13b3f Mon Sep 17 00:00:00 2001
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From: Tyler Veness <calcmogul@gmail.com>
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Date: Wed, 18 May 2022 11:15:27 -0700
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Subject: [PATCH 2/2] Add WPILIB_DLLEXPORT to DARE function declarations
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---
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math/discrete_algebraic_riccati_equation.h | 3 +++
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1 file changed, 3 insertions(+)
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diff --git a/math/discrete_algebraic_riccati_equation.h b/math/discrete_algebraic_riccati_equation.h
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index df7a58b2b8..55b8442bf4 100644
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--- a/math/discrete_algebraic_riccati_equation.h
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+++ b/math/discrete_algebraic_riccati_equation.h
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@@ -4,6 +4,7 @@
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#include <cstdlib>
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#include <Eigen/Core>
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+#include <wpi/SymbolExports.h>
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namespace drake {
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namespace math {
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@@ -21,6 +22,7 @@ Based on the Schur Vector approach outlined in this paper:
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"On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
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by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
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*/
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+WPILIB_DLLEXPORT
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Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
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const Eigen::Ref<const Eigen::MatrixXd>& A,
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const Eigen::Ref<const Eigen::MatrixXd>& B,
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@@ -71,6 +73,7 @@ J = Σ [uₖ] [0 R][uₖ] ΔT
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@throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
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@throws std::runtime_error if R is not positive definite.
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*/
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+WPILIB_DLLEXPORT
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Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
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const Eigen::Ref<const Eigen::MatrixXd>& A,
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const Eigen::Ref<const Eigen::MatrixXd>& B,
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--
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2.36.1
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