lyapunov_discrete.h

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 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
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 *  Authors: Christoph Rösmann
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#ifndef SRC_NUMERICS_INCLUDE_CORBO_NUMERICS_LYAPUNOV_DISCRETE_H_
#define SRC_NUMERICS_INCLUDE_CORBO_NUMERICS_LYAPUNOV_DISCRETE_H_

#include <corbo-core/console.h>
#include <corbo-core/types.h>

namespace corbo {

class LyapunovDiscrete
{
 public:
    static bool solve(const Eigen::Ref<const Eigen::MatrixXd>& A, const Eigen::Ref<const Eigen::MatrixXd>& Q, Eigen::MatrixXd& X);

    static bool hasUniqueSolution(const Eigen::Ref<const Eigen::MatrixXd>& A);
};

}  // namespace corbo

#endif  // SRC_NUMERICS_INCLUDE_CORBO_NUMERICS_LYAPUNOV_DISCRETE_H_