o i@s>ddlZddZddZddZdd Zd d Zdd d ZdS)NcCs|dur tdS|S)Nrr)cupyzerosargr_/home/ubuntu/veenaModal/venv/lib/python3.10/site-packages/cupyx/scipy/signal/_lti_conversion.py_none_to_empty_2ds r cCs|dur t|SdSN)r atleast_2drrrr_atleast_2d_or_none s r cCs|dur|jSdS)N)NN)shape)Mrrr_shape_or_nonesrcGs|D] }|dur |SqdSr r)argsrrrr_choice_not_nones rcCs*|jdkr t|S|j|krtd|S)Nrz*The input arrays have incompatible shapes.)r rr ValueError)rr rrr_restores   rcCstt||||f\}}}}t|\}}t|\}}t|\}} t|\} } t||| } t|| } t|| }| dusA| dusA|durEtdtt||||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.)mapr rrrr r)ABCDMANAMBNBMCNCMDNDpqrrrrabcd_normalize&s         r$)NNNN)rr r rrrr$rrrrs