DARE.h File Reference

#include <string_view>
#include <Eigen/Cholesky>
#include <Eigen/Core>
#include <Eigen/LU>
#include <wpi/expected>
#include "frc/StateSpaceUtil.h"

Go to the source code of this file.

Namespaces
namespace	frc
namespace	frc::detail

Enumerations
enum class	frc::DAREError {   frc::QNotSymmetric , frc::QNotPositiveSemidefinite , frc::RNotSymmetric , frc::RNotPositiveDefinite ,   frc::ABNotStabilizable , frc::ACNotDetectable }
	Errors the DARE solver can encounter. More...

Functions
constexpr std::string_view	frc::to_string (const DAREError &error)
	Converts the given DAREError enum to a string.
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:
template<int States, int Inputs>
wpi::expected< Eigen::Matrix< double, States, States >, DAREError >	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, bool checkPreconditions=true)
	Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation:
template<int States, int Inputs>
wpi::expected< Eigen::Matrix< double, States, States >, DAREError >	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, bool checkPreconditions=true)
	Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation: