BipedalLocomotion::Math::CARE class
#include <BipedalLocomotion/Math/CARE.h>

Computes the unique stabilizing solution S to the continuous-time algebraic equation.

Constructors, destructors, conversion operators

auto initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler) -> bool: Initialize the continuous algebraic riccati equation solver.
auto setMatrices(Eigen::Ref<const Eigen::MatrixXd> A, Eigen::Ref<const Eigen::MatrixXd> B, Eigen::Ref<const Eigen::MatrixXd> Q, Eigen::Ref<const Eigen::MatrixXd> R) -> bool: Initialize the matrices.
auto solve() -> bool: Run the algorithm to compute the unique stabilizing solution of the continuous algebriac Riccati equation.
auto getSolution() const -> Eigen::Ref<const Eigen::MatrixXd>: Get the solution.

Initialize the continuous algebraic riccati equation solver.

Parameters
handler	pointer to the parameter handler.
Returns	true in case of success/false otherwise.

The following parameters are optional:

Parameter Name	Type	Description	Mandatory
`tolerance`	`double`	Tolerance of the solution (default value `1e-9`)	No
`is_verbose`	`boolean`	If `true` the algorithm will print some information (default value `false`)	No
`max_iterations`	`int`	Max number of the interation used by the algorithm (default value `100`)	No

Initialize the matrices.

Parameters
A	n x n square matrix
B	n x m matrix
Q	n x n symmetric-square matrix
R	m x m square positive definite matrix
Returns	True in case of success and false otherwise.

Run the algorithm to compute the unique stabilizing solution of the continuous algebriac Riccati equation.

Returns	True in case of success and false otherwise.

Get the solution.

Returns	the solution