| /*----------------------------------------------------------------------------*/ |
| /* Copyright (c) 2020 FIRST. All Rights Reserved. */ |
| /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| /* the project. */ |
| /*----------------------------------------------------------------------------*/ |
| |
| #include "frc/StateSpaceUtil.h" |
| |
| namespace frc { |
| |
| template <> |
| bool IsStabilizable<1, 1>(const Eigen::Matrix<double, 1, 1>& A, |
| const Eigen::Matrix<double, 1, 1>& B) { |
| return detail::IsStabilizableImpl<1, 1>(A, B); |
| } |
| |
| template <> |
| bool IsStabilizable<2, 1>(const Eigen::Matrix<double, 2, 2>& A, |
| const Eigen::Matrix<double, 2, 1>& B) { |
| return detail::IsStabilizableImpl<2, 1>(A, B); |
| } |
| |
| Eigen::Matrix<double, 3, 1> PoseToVector(const Pose2d& pose) { |
| return frc::MakeMatrix<3, 1>(pose.X().to<double>(), pose.Y().to<double>(), |
| pose.Rotation().Radians().to<double>()); |
| } |
| |
| } // namespace frc |