Added dlqr pole placement library.
This is a wrapper around slicot. Some day, we'll replace it... The
code involved is mildly terrifying
Change-Id: I6e09f7f84d9e85bc12d446e38b0014e3d4df6e6f
diff --git a/y2018/control_loops/superstructure/arm/BUILD b/y2018/control_loops/superstructure/arm/BUILD
index ae2ed51..6224df1 100644
--- a/y2018/control_loops/superstructure/arm/BUILD
+++ b/y2018/control_loops/superstructure/arm/BUILD
@@ -4,11 +4,11 @@
"trajectory.cc",
],
hdrs = [
- "dlqr.h",
"trajectory.h",
],
deps = [
":dynamics",
+ "//frc971/control_loops:dlqr",
"//frc971/control_loops:jacobian",
"//third_party/eigen",
],
@@ -19,7 +19,6 @@
srcs = [
"trajectory_test.cc",
],
- linkopts = ["-lslicot"],
restricted_to = ["//tools:k8"],
deps = [
":demo_path",
@@ -69,7 +68,6 @@
srcs = [
"trajectory_plot.cc",
],
- linkopts = ["-lslicot"],
restricted_to = ["//tools:k8"],
deps = [
":demo_path",
@@ -78,4 +76,3 @@
"//third_party/matplotlib-cpp",
],
)
-
diff --git a/y2018/control_loops/superstructure/arm/trajectory.cc b/y2018/control_loops/superstructure/arm/trajectory.cc
index fbe38eb..14ec413 100644
--- a/y2018/control_loops/superstructure/arm/trajectory.cc
+++ b/y2018/control_loops/superstructure/arm/trajectory.cc
@@ -1,8 +1,8 @@
#include "y2018/control_loops/superstructure/arm/trajectory.h"
#include "Eigen/Dense"
+#include "frc971/control_loops/dlqr.h"
#include "frc971/control_loops/jacobian.h"
-#include "y2018/control_loops/superstructure/arm/dlqr.h"
#include "y2018/control_loops/superstructure/arm/dynamics.h"
namespace y2018 {