Clang format Controllability in dlqr
Change-Id: I739d27abc9cf79ba1efad66d4b389baa7cbdf3e4
diff --git a/frc971/control_loops/dlqr.h b/frc971/control_loops/dlqr.h
index 98dccb2..94637a2 100644
--- a/frc971/control_loops/dlqr.h
+++ b/frc971/control_loops/dlqr.h
@@ -9,20 +9,19 @@
template <int num_states, int num_inputs>
int Controllability(const ::Eigen::Matrix<double, num_states, num_states> &A,
const ::Eigen::Matrix<double, num_states, num_inputs> &B) {
- Eigen::Matrix<double, num_states, num_states * num_inputs> controllability;
- controllability.block(0, 0, num_states, num_inputs) = B;
+ Eigen::Matrix<double, num_states, num_states * num_inputs> controllability;
+ controllability.block(0, 0, num_states, num_inputs) = B;
- for (size_t i = 1; i < num_states; i++) {
- controllability.block(0, i * num_inputs, num_states, num_inputs) =
- A *
- controllability.block(0, (i - 1) * num_inputs, num_states,
- num_inputs);
- }
+ for (size_t i = 1; i < num_states; i++) {
+ controllability.block(0, i * num_inputs, num_states, num_inputs) =
+ A *
+ controllability.block(0, (i - 1) * num_inputs, num_states, num_inputs);
+ }
- return Eigen::FullPivLU<
- Eigen::Matrix<double, num_states, num_states * num_inputs>>(
- controllability)
- .rank();
+ return Eigen::FullPivLU<
+ Eigen::Matrix<double, num_states, num_states * num_inputs>>(
+ controllability)
+ .rank();
}
extern "C" {