dsmc 0.1.6

Digitalservo Motion Control Library
Documentation 
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use thiserror::Error;

#[derive(Clone, Debug, Error, PartialEq)]
pub enum StateSpaceError {
    #[error("System matrix A must be square and non-empty. Got {rows}×{cols}")]
    SystemMatrix {
        rows: usize,
        cols: usize
    },

    #[error("Input matrix B must be {expected_row}×{expected_col}, but got {actual_rows}×{actual_cols}")]
    InputMatrix {
        expected_row: usize,
        expected_col: usize,
        actual_rows: usize,
        actual_cols: usize,
    },

    #[error("Input vector U must be {expected_row}, but got {actual_rows}")]
    InputVector {
        expected_row: usize,
        actual_rows: usize,
    },

    #[error("Output matrixC must be {expected_row}×{expected_col}, but got {actual_rows}×{actual_cols}")]
    OutputMatrix {
        expected_row: usize,
        expected_col: usize,
        actual_rows: usize,
        actual_cols: usize,
    },

    #[error("Feedthrough matrix D must be {expected_row}×{expected_col}, but got {actual_rows}×{actual_cols}")]
    FeedthroughMatrix {
        expected_row: usize,
        expected_col: usize,
        actual_rows: usize,
        actual_cols: usize,
    },

    #[error("StateSpace must have at least one state")]
    EmptySystem,

    #[error("Matrix is singular")]
    SingularMatrix,

    #[error("Only single-input single-output systems are supported, got {inputs} inputs and {outputs} outputs")]
    NotSiso { inputs: usize, outputs: usize },

    #[error("Improper transfer function (numerator degree {numerator} > denominator degree {denominator}) has no state-space realization")]
    Improper { numerator: usize, denominator: usize },
}