schur.h

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 *
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 *
 *  Copyright (c) 2020,
 *  TU Dortmund - Institute of Control Theory and Systems Engineering.
 *  All rights reserved.
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 *  Authors: Christoph Rösmann
 *********************************************************************/

#ifndef SRC_NUMERICS_INCLUDE_CORBO_NUMERICS_SCHUR_H_
#define SRC_NUMERICS_INCLUDE_CORBO_NUMERICS_SCHUR_H_

#include <Eigen/Core>

namespace corbo {

void schur_decomposition_2d(Eigen::Ref<Eigen::Matrix2d> T, Eigen::Ref<Eigen::Matrix2d> U);

bool swap_schur_blocks(Eigen::Ref<Eigen::MatrixXd> T, int ra11, int p, int q, Eigen::Ref<Eigen::MatrixXd> Q, bool standardize = false);

template <class Predicate>
bool reorder_schur_blocks(Eigen::Ref<Eigen::MatrixXd> T, Eigen::Ref<Eigen::MatrixXd> Q, Predicate predicate, int* subspace_dim = nullptr,
                          bool standardize = false);

}  // namespace corbo

#include <corbo-numerics/schur.hpp>

#endif  // SRC_NUMERICS_INCLUDE_CORBO_NUMERICS_SCHUR_H_