Package edu.wpi.first.math

Class Drake

java.lang.Object

edu.wpi.first.math.Drake

public final class Drake
extends Object

Method Summary

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 algebraic 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 algebraic 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 algebraic 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 algebraic Riccati equation.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

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 algebraic 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 Num> Matrix<States,States> discreteAlgebraicRiccatiEquation(Matrix<States,States> A, Matrix<States,Inputs> B, Matrix<States,States> Q, Matrix<Inputs,Inputs> R)

Solves the discrete algebraic 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 algebraic 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 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 algebraic 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.