lyapunov_continuous.h

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 *  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_CONTINUOUS_H_
#define SRC_NUMERICS_INCLUDE_CORBO_NUMERICS_LYAPUNOV_CONTINUOUS_H_
 
#include <corbo-core/console.h>
#include <corbo-core/types.h>
 
namespace corbo {
 
class LyapunovContinuous
{
 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_CONTINUOUS_H_