commit 0378513e6ace83807613644b3777e762eba5cc76
author Austin Schuh <austin.linux@gmail.com> Mon Feb 19 18:29:06 2018 -0800
committer Austin Schuh <austin.linux@gmail.com> Mon Feb 19 19:23:46 2018 -0800
tree e67ee9f53624653d6699235ec7aeadaa1cd62562
parent 5c068b689d36de476b777581c7300116e6c3e8fc

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

y2018/control_loops/superstructure/arm/BUILD

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",
     ],
 )
-