Terrible Linear System

break.py

# Built off of commit hash 8ddd6672b1

import numpy as np
from pydrake.all import ContinuousAlgebraicRiccatiEquation

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-0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 \
0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 0.000000000000000000e+00 \
-0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00 -0.000000000000000000e+00",
sep = " ").reshape(49,12)
Q = np.eye(49)
R = np.eye(12)

evals, evecs = np.linalg.eig(A)
for l in evals:
	if np.real(l) >= 0:
		mat = np.hstack((l*np.eye(A.shape[0])-A, B))
		if not np.linalg.matrix_rank(mat) == A.shape[0]:
			print("Not Stabilizable")

AT, QT = A.T, Q.T
evals, evecs = np.linalg.eig(QT)
for l in evals:
	if np.real(l) >= 0:
		mat = np.hstack((l*np.eye(QT.shape[0])-QT, AT))
		if not np.linalg.matrix_rank(mat) == QT.shape[0]:
			print("Not Detectable")

ContinuousAlgebraicRiccatiEquation(A, B, Q, R)