The WLS (Weighted Least Squares) control allocation algorithm is currently implemented as inline/duplicated…
The WLS (Weighted Least Squares) control allocation algorithm is currently implemented as inline/duplicated…: a task in LegoFlow-SWE (Harbor dataset). The library should provide a function wls alloc that performs the allocation. The function must be reentrant: each caller must be able to maintain…
The task
The library should provide a function `wls_alloc` that performs the allocation. The function must be reentrant: each caller must be able to maintain its own state, with no global or static state that would cause conflicts when called from different modules. The function should use `qr_solve` (a QR decomposition…
Part of Lego-X/LegoFlow-SWE.