`i4ddlZdZdZdZdZdZddZdS) Nc2|tjdS|S)Nrr)cupyzerosargs v/home/jaya/work/projects/VOICE-AGENT/VIET/agent-env/lib/python3.11/site-packages/cupyx/scipy/signal/_lti_conversion.py_none_to_empty_2dr s {z&!!! c2|tj|SdSN)r atleast_2drs r _atleast_2d_or_noner s s###r c||jSdS)N)NN)shape)Ms r _shape_or_noners}w{r c|D]}||cS dSr )argsrs r _choice_not_noners. ?JJJ r cx|jdkrtj|S|j|krtd|S)Nrz*The input arrays have incompatible shapes.)rrr ValueError)rrs r _restorers@w&z%   7e  IJJ Jr c2tt||||f\}}}}t|\}}t|\}}t|\}} t|\} } t||| } t|| } t|| }| | |t dtt ||||f\}}}}t || | f}t || | f}t ||| f}t ||| f}||||fS)aCheck state-space matrices and ensure they are 2-D. If enough information on the system is provided, that is, enough properly-shaped arrays are passed to the function, the missing ones are built from this information, ensuring the correct number of rows and columns. Otherwise a ValueError is raised. Parameters ---------- A, B, C, D : array_like, optional State-space matrices. All of them are None (missing) by default. See `ss2tf` for format. Returns ------- A, B, C, D : array Properly shaped state-space matrices. Raises ------ ValueError If not enough information on the system was provided. Nz%Not enough information on the system.)maprrrrr r)ABCDMANAMBNBMCNCMDNDpqrs r abcd_normalizer,&s-2(1aA,77JAq!Q A  FB A  FB A  FB A  FBR$$AR  AR  AyAI@AAA&Aq! 55JAq!QQFAQFAQFAQFA aA:r )NNNN)rr rrrrr,rr r r-sw $$$  ,,,,,,r