mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
29 lines
1.2 KiB
Diff
29 lines
1.2 KiB
Diff
diff --git b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h a/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
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index df7a58b2b..55b8442bf 100644
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--- b/wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h
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+++ a/wpimath/src/main/native/include/drake/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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