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BUILD.bazel
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BUILD.bazel
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load(
"@drake//tools/skylark:drake_cc.bzl",
"drake_cc_googletest",
"drake_cc_library",
"drake_cc_package_library",
)
load("//tools/lint:lint.bzl", "add_lint_tests")
package(default_visibility = ["//visibility:public"])
drake_cc_package_library(
name = "estimators",
visibility = ["//visibility:public"],
deps = [
":kalman_filter",
":luenberger_observer",
],
)
drake_cc_library(
name = "kalman_filter",
srcs = ["kalman_filter.cc"],
hdrs = ["kalman_filter.h"],
deps = [
":luenberger_observer",
"//systems/controllers:linear_quadratic_regulator",
"//systems/framework",
"//systems/primitives:linear_system",
],
)
drake_cc_library(
name = "luenberger_observer",
srcs = ["luenberger_observer.cc"],
hdrs = ["luenberger_observer.h"],
deps = [
"//common:default_scalars",
"//systems/framework",
],
)
# === test/ ===
drake_cc_googletest(
name = "kalman_filter_test",
deps = [
":kalman_filter",
"//common/test_utilities:eigen_matrix_compare",
],
)
drake_cc_googletest(
name = "luenberger_observer_test",
deps = [
":luenberger_observer",
"//common/test_utilities:eigen_matrix_compare",
"//common/test_utilities:is_dynamic_castable",
"//examples/pendulum:pendulum_plant",
"//systems/framework/test_utilities:scalar_conversion",
"//systems/primitives:linear_system",
],
)
add_lint_tests()