mirror of
https://github.com/wpilibsuite/allwpilib
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38 lines
1.4 KiB
Diff
38 lines
1.4 KiB
Diff
From b208372a18b37f6cbc49dd45d15adf63c9b60755 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 df7a58b..55b8442 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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