Class Drake

    • Method Detail

      • 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.
      • discreteAlgebraicRiccatiEquation

        public static <States extends Num,​Inputs extends NumMatrix<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.
      • 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.
      • discreteAlgebraicRiccatiEquation

        public static <States extends Num,​Inputs extends NumMatrix<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.