inputchecks.py 文件源码

def check_controls_data(udata, nu, number_of_controls):

    if not nu == 0:

        if udata is None:
            udata = np.zeros((nu, number_of_controls))

        udata = np.atleast_2d(udata)

        if udata.shape == (number_of_controls, nu):
            udata = udata.T

        if not udata.shape == (nu, number_of_controls):

            raise ValueError( \
                "Time-varying control values provided by user have wrong dimension.")

        return udata

    else:

        return ci.dmatrix(0, number_of_controls)