Package edu.wpi.first.math
Class Drake
- java.lang.Object
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- edu.wpi.first.math.Drake
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Method Summary
All Methods Static Methods Concrete Methods Modifier and Type Method Description static <States extends Num,Inputs extends Num>
Matrix<States,States>discreteAlgebraicRiccatiEquation(Matrix<States,States> A, Matrix<States,Inputs> B, Matrix<States,States> Q, Matrix<Inputs,Inputs> R)
Solves the discrete alegebraic Riccati equation.static <States extends Num,Inputs extends Num>
Matrix<States,States>discreteAlgebraicRiccatiEquation(Matrix<States,States> A, Matrix<States,Inputs> B, Matrix<States,States> Q, Matrix<Inputs,Inputs> R, Matrix<States,Inputs> N)
Solves the discrete alegebraic Riccati equation.static org.ejml.simple.SimpleMatrix
discreteAlgebraicRiccatiEquation(org.ejml.simple.SimpleMatrix A, org.ejml.simple.SimpleMatrix B, org.ejml.simple.SimpleMatrix Q, org.ejml.simple.SimpleMatrix R)
Solves the discrete alegebraic Riccati equation.static org.ejml.simple.SimpleMatrix
discreteAlgebraicRiccatiEquation(org.ejml.simple.SimpleMatrix A, org.ejml.simple.SimpleMatrix B, org.ejml.simple.SimpleMatrix Q, org.ejml.simple.SimpleMatrix R, org.ejml.simple.SimpleMatrix N)
Solves the discrete alegebraic Riccati equation.
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Method Detail
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discreteAlgebraicRiccatiEquation
public static org.ejml.simple.SimpleMatrix discreteAlgebraicRiccatiEquation(org.ejml.simple.SimpleMatrix A, org.ejml.simple.SimpleMatrix B, org.ejml.simple.SimpleMatrix Q, org.ejml.simple.SimpleMatrix R)
Solves the discrete alegebraic Riccati equation.- Parameters:
A
- System matrix.B
- Input matrix.Q
- State cost matrix.R
- Input cost matrix.- Returns:
- Solution of DARE.
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discreteAlgebraicRiccatiEquation
public static <States extends Num,Inputs extends Num> Matrix<States,States> discreteAlgebraicRiccatiEquation(Matrix<States,States> A, Matrix<States,Inputs> B, Matrix<States,States> Q, Matrix<Inputs,Inputs> R)
Solves the discrete alegebraic Riccati equation.- Type Parameters:
States
- Number of states.Inputs
- Number of inputs.- Parameters:
A
- System matrix.B
- Input matrix.Q
- State cost matrix.R
- Input cost matrix.- Returns:
- Solution of DARE.
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discreteAlgebraicRiccatiEquation
public static org.ejml.simple.SimpleMatrix discreteAlgebraicRiccatiEquation(org.ejml.simple.SimpleMatrix A, org.ejml.simple.SimpleMatrix B, org.ejml.simple.SimpleMatrix Q, org.ejml.simple.SimpleMatrix R, org.ejml.simple.SimpleMatrix N)
Solves the discrete alegebraic Riccati equation.- Parameters:
A
- System matrix.B
- Input matrix.Q
- State cost matrix.R
- Input cost matrix.N
- State-input cross-term cost matrix.- Returns:
- Solution of DARE.
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discreteAlgebraicRiccatiEquation
public static <States extends Num,Inputs extends Num> Matrix<States,States> discreteAlgebraicRiccatiEquation(Matrix<States,States> A, Matrix<States,Inputs> B, Matrix<States,States> Q, Matrix<Inputs,Inputs> R, Matrix<States,Inputs> N)
Solves the discrete alegebraic Riccati equation.- Type Parameters:
States
- Number of states.Inputs
- Number of inputs.- Parameters:
A
- System matrix.B
- Input matrix.Q
- State cost matrix.R
- Input cost matrix.N
- State-input cross-term cost matrix.- Returns:
- Solution of DARE.
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