Differences

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--- eeros_architecture:control_system:available_blocks:gain [2022/04/21 13:35] – [Gain] ursgraf
+++ eeros_architecture:control_system:available_blocks:gain [2026/03/19 12:01] (current) – ursgraf
@@ Line 6: / Line 6: @@
 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 type of the input and output signal. The second template parameter is the type of the gain, which 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. The gain block will calculate output[2,1] = gain[2,2] x input[2,1]
 <code cpp>
-Gain<Matrix<1,2>, Matrix<2,2>> g1({1,2.5,-1,-0.5});  // not allowed, 2x2 matrix cannot be multiplied with 1x2 matrix
+Gain<Matrix<1,2>, Matrix<2,2>> g1({1,2.5,-1,-0.5});  // not allowed
 </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.
+This is not allowed because the multiplication of two matrices with the first having dimensions of [2,2] and the second of [1,2] is not defined.
 If a ''Gain'' block is declared with a single value each element of the input vector is multiplied with this value.
 <code cpp>