frc::detail Namespace Reference

Classes
class	ListenerExecutor
	An executor for running listener tasks posted by Sendable listeners synchronously from the main application thread. More...

Functions
constexpr ct_matrix3d	RotationVectorToMatrix (const ct_vector3d &rotation)
	Applies the hat operator to a rotation vector.
constexpr Eigen::Matrix3d	RotationVectorToMatrix (const Eigen::Vector3d &rotation)
	Applies the hat operator to a rotation vector.
template<int States, int Inputs>
Eigen::Matrix< double, States, States >	DARE (const Eigen::Matrix< double, States, States > &A, const Eigen::Matrix< double, States, Inputs > &B, const Eigen::Matrix< double, States, States > &Q, const Eigen::LLT< Eigen::Matrix< double, Inputs, Inputs > > &R_llt)
	Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation:
WPILIB_DLLEXPORT int	IncrementAndGetProfiledPIDControllerInstances ()

Function Documentation

DARE()

template<int States, int Inputs>

Eigen::Matrix< double, States, States > frc::detail::DARE	(	const Eigen::Matrix< double, States, States > &	A,
		const Eigen::Matrix< double, States, Inputs > &	B,
		const Eigen::Matrix< double, States, States > &	Q,
		const Eigen::LLT< Eigen::Matrix< double, Inputs, Inputs > > &	R_llt )

Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation:

AᵀXA − X − AᵀXB(BᵀXB + R)⁻¹BᵀXA + Q = 0

This internal function skips expensive precondition checks for increased performance. The solver may hang if any of the following occur:

• Q isn't symmetric positive semidefinite
• R isn't symmetric positive definite
• The (A, B) pair isn't stabilizable
• The (A, C) pair where Q = CᵀC isn't detectable

Only use this function if you're sure the preconditions are met.

Template Parameters

States	Number of states.
Inputs	Number of inputs.

Parameters

A	The system matrix.
B	The input matrix.
Q	The state cost matrix.
R_llt	The LLT decomposition of the input cost matrix.

Returns

Solution to the DARE.

IncrementAndGetProfiledPIDControllerInstances()

WPILIB_DLLEXPORT int frc::detail::IncrementAndGetProfiledPIDControllerInstances

(

)

RotationVectorToMatrix() [1/2]

ct_matrix3d frc::detail::RotationVectorToMatrix ( const ct_vector3d & rotation )

constexpr

Applies the hat operator to a rotation vector.

It takes a rotation vector and returns the corresponding matrix representation of the Lie algebra element (a 3x3 rotation matrix).

Parameters

rotation

The rotation vector.

Returns

The rotation vector as a 3x3 rotation matrix.

RotationVectorToMatrix() [2/2]

Eigen::Matrix3d frc::detail::RotationVectorToMatrix ( const Eigen::Vector3d & rotation )

constexpr

Applies the hat operator to a rotation vector.

It takes a rotation vector and returns the corresponding matrix representation of the Lie algebra element (a 3x3 rotation matrix).

Parameters

rotation

The rotation vector.

Returns

The rotation vector as a 3x3 rotation matrix.