controllability.h

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/*********************************************************************
 *
 *  Software License Agreement
 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
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 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
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 *  Authors: Christoph Rösmann
 *********************************************************************/

#ifndef SRC_NUMERICS_INCLUDE_CORBO_NUMERICS_CONTROLLABILITY_H_
#define SRC_NUMERICS_INCLUDE_CORBO_NUMERICS_CONTROLLABILITY_H_

#include <corbo-core/types.h>

namespace corbo {

class Controllability
{
 public:
    static bool checkLinearTimeInvariantSystem(const Eigen::Ref<const Eigen::MatrixXd>& A, const Eigen::Ref<const Eigen::MatrixXd>& B,
                                               int* rank = nullptr);

 protected:
};

}  // namespace corbo

#endif  // SRC_NUMERICS_INCLUDE_CORBO_NUMERICS_CONTROLLABILITY_H_