WPILibC++ 2024.3.2
DARE.h File Reference
#include <stdexcept>
#include <string>
#include <Eigen/Cholesky>
#include <Eigen/Core>
#include <Eigen/LU>
#include "frc/StateSpaceUtil.h"
#include "frc/fmt/Eigen.h"

Go to the source code of this file.

## Namespaces

namespace  frc

namespace  frc::detail

## Functions

template<int States, int Inputs>
void frc::detail::CheckDARE_ABQ (const Eigen::Matrix< double, States, States > &A, const Eigen::Matrix< double, States, Inputs > &B, const Eigen::Matrix< double, States, States > &Q)
Checks the preconditions of A, B, and Q for the DARE solver. More...

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: More...

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, const Eigen::Matrix< double, Inputs, Inputs > &N)
Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation: More...

template<int States, int Inputs>
Eigen::Matrix< double, States, States > frc::DARE (const Eigen::Matrix< double, States, States > &A, const Eigen::Matrix< double, States, Inputs > &B, const Eigen::Matrix< double, States, States > &Q, const Eigen::Matrix< double, Inputs, Inputs > &R)
Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation: More...

template<int States, int Inputs>
Eigen::Matrix< double, States, States > frc::DARE (const Eigen::Matrix< double, States, States > &A, const Eigen::Matrix< double, States, Inputs > &B, const Eigen::Matrix< double, States, States > &Q, const Eigen::Matrix< double, Inputs, Inputs > &R, const Eigen::Matrix< double, States, Inputs > &N)
Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation: More...