defaults:
  subpackage: system

classes:
  frc::LinearSystemLoop:
    template_params:
    - int States
    - int Inputs
    - int Outputs
    methods:
      LinearSystemLoop:
        overloads:
          ? LinearSystem<States, Inputs, Outputs>&, LinearQuadraticRegulator<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, units::volt_t, units::second_t
          :
          ? LinearSystem<States, Inputs, Outputs>&, LinearQuadraticRegulator<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, std::function<InputVector (const InputVector&)>, units::second_t
          :
          ? LinearQuadraticRegulator<States, Inputs>&, const LinearPlantInversionFeedforward<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, units::volt_t
          :
          ? LinearQuadraticRegulator<States, Inputs>&, const LinearPlantInversionFeedforward<States, Inputs>&, KalmanFilter<States, Inputs, Outputs>&, std::function<InputVector (const InputVector&)>
          :
      Xhat:
        overloads:
          '[const]':
          int [const]:
      NextR:
        overloads:
          '[const]':
          int [const]:
      U:
        overloads:
          '[const]':
          int [const]:
      SetXhat:
        overloads:
          const StateVector&:
          int, double:
      SetNextR:
      Controller:
        ignore: true # TODO
      Feedforward:
        ignore: true # TODO
      Observer:
        ignore: true # TODO
      Reset:
      Error:
      Correct:
      Predict:
      ClampInput:
templates:
  LinearSystemLoop_1_1_1:
    qualname: frc::LinearSystemLoop
    params:
    - 1
    - 1
    - 1
  LinearSystemLoop_2_1_1:
    qualname: frc::LinearSystemLoop
    params:
    - 2
    - 1
    - 1
  LinearSystemLoop_2_1_2:
    qualname: frc::LinearSystemLoop
    params:
    - 2
    - 1
    - 2
  LinearSystemLoop_2_2_2:
    qualname: frc::LinearSystemLoop
    params:
    - 2
    - 2
    - 2
  LinearSystemLoop_3_2_3:
    qualname: frc::LinearSystemLoop
    params:
    - 3
    - 2
    - 3