Differences

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--- eeros_architecture:control_system:available_blocks:gain [2022/04/21 08:58] – ursgraf
+++ eeros_architecture:control_system:available_blocks:gain [2022/04/21 13:35] – [Gain] ursgraf
@@ Line 4: / Line 4: @@
 The following lines show various examples.
 <code cpp>
-Gain<Matrix<1,2>, Matrix<2,2>> g1({1,2.5,-1,-0.5});  // result will be of type Matrix<1,2>
+Gain<Matrix<2,1>, Matrix<2,2>> g1({1,2.5,-1,-0.5});  // result will be of type Matrix<2,1>
 </code>
-The first template parameter denotes the input signal. The gain here is a 2x2-matrix.
+The first template parameter denotes the type of the input and output signal. The second template parameter is the type of the gain, which here is a 2x2-matrix.
 <code cpp>
-Gain<Matrix<2,1>, Matrix<2,2>> g1({1,2.5,-1,-0.5});  // not allowed
+Gain<Matrix<1,2>, Matrix<2,2>> g1({1,2.5,-1,-0.5});  // not allowed, 2x2 matrix cannot be multiplied with 1x2 matrix
 </code>
 This is not allowed because the multiplication of two matrices with the first having dimensions of [2,1] and the second of [2,2] is not defined.