classes:
  wpi::sim::LinearSystemSim:
    typealias:
    - template <int S, int I, int O> using wpi::math::LinearSystem = wpi::math::LinearSystem<S, I, O>
    - template <int I> using wpi::math::Vectord = wpi::math::Vectord<I>
    template_params:
    - int States
    - int Inputs
    - int Outputs
    attributes:
      m_plant:
      m_x:
      m_y:
      m_u:
      m_measurementStdDevs:
    methods:
      LinearSystemSim:
        param_override:
          measurementStdDevs:
            default: std::array<double, Outputs>{}
      Update:
      GetOutput:
        overloads:
          '[const]':
          int [const]:
      SetInput:
        overloads:
          const wpi::math::Vectord<Inputs>&:
          int, double:
      GetInput:
        overloads:
          '[const]':
          int [const]:
      SetState:
      UpdateX:
      ClampInput:


templates:
  LinearSystemSim_1_1_1:
    qualname: wpi::sim::LinearSystemSim
    params:
    - 1
    - 1
    - 1
  LinearSystemSim_1_1_2:
    qualname: wpi::sim::LinearSystemSim
    params:
    - 1
    - 1
    - 2
  LinearSystemSim_2_1_1:
    qualname: wpi::sim::LinearSystemSim
    params:
    - 2
    - 1
    - 1
  LinearSystemSim_2_1_2:
    qualname: wpi::sim::LinearSystemSim
    params:
    - 2
    - 1
    - 2
  LinearSystemSim_2_2_1:
    qualname: wpi::sim::LinearSystemSim
    params:
    - 2
    - 2
    - 1
  LinearSystemSim_2_2_2:
    qualname: wpi::sim::LinearSystemSim
    params:
    - 2
    - 2
    - 2