formatting fix

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/LinearSystemSim.java

@@ -14,23 +14,17 @@
 import org.ejml.simple.SimpleMatrix;
 
 /**
- * This class helps simulate linear systems. To use this class, do the following
- * in the {@link
+ * This class helps simulate linear systems. To use this class, do the following in the {@link
  * edu.wpi.first.wpilibj.IterativeRobotBase#simulationPeriodic} method.
  *
- * <p>
- * Call {@link #setInput(double...)} with the inputs to the system (usually
- * voltage).
+ * <p>Call {@link #setInput(double...)} with the inputs to the system (usually voltage).
  *
- * <p>
- * Call {@link #update} to update the simulation.
+ * <p>Call {@link #update} to update the simulation.
  *
- * <p>
- * Set simulated sensor readings with the simulated positions in
- * {@link #getOutput()}
+ * <p>Set simulated sensor readings with the simulated positions in {@link #getOutput()}
  *
- * @param <States>  Number of states of the system.
- * @param <Inputs>  Number of inputs to the system.
+ * @param <States> Number of states of the system.
+ * @param <Inputs> Number of inputs to the system.
  * @param <Outputs> Number of outputs of the system.
  */
 public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs extends Num> {
@@ -46,10 +40,7 @@ public class LinearSystemSim<States extends Num, Inputs extends Num, Outputs ext
   /** Output vector. */
   protected Matrix<Outputs, N1> m_y;
 
-  /**
-   * The standard deviations of measurements, used for adding noise to the
-   * measurements.
-   */
+  /** The standard deviations of measurements, used for adding noise to the measurements. */
   protected final Matrix<Outputs, N1> m_measurementStdDevs;
 
   /**
@@ -64,10 +55,9 @@ public LinearSystemSim(LinearSystem<States, Inputs, Outputs> system) {
   /**
    * Creates a simulated generic linear system with measurement noise.
    *
-   * @param system             The system being controlled.
-   * @param measurementStdDevs Standard deviations of measurements. Can be null if
-   *                           no noise is
-   *                           desired.
+   * @param system The system being controlled.
+   * @param measurementStdDevs Standard deviations of measurements. Can be null if no noise is
+   *     desired.
    */
   public LinearSystemSim(
       LinearSystem<States, Inputs, Outputs> system, Matrix<Outputs, N1> measurementStdDevs) {
@@ -143,13 +133,12 @@ public double getInput(int row) {
   public void setInput(Matrix<Inputs, N1> u) {
     this.m_u = clampInput(u);
     m_u = clampInput(m_u);
-
   }
 
   /**
    * Sets the system inputs.
    *
-   * @param row   The row in the input matrix to set.
+   * @param row The row in the input matrix to set.
    * @param value The value to set the row to.
    */
   public void setInput(int row, double value) {
@@ -181,8 +170,7 @@ public void setState(Matrix<States, N1> state) {
   }
 
   /**
-   * Returns the current drawn by this simulated system. Override this method to
-   * add a custom
+   * Returns the current drawn by this simulated system. Override this method to add a custom
    * current calculation.
    *
    * @return The current drawn by this simulated mechanism.
@@ -195,8 +183,8 @@ public double getCurrentDrawAmps() {
    * Updates the state estimate of the system.
    *
    * @param currentXhat The current state estimate.
-   * @param u           The system inputs (usually voltage).
-   * @param dtSeconds   The time difference between controller updates.
+   * @param u The system inputs (usually voltage).
+   * @param dtSeconds The time difference between controller updates.
    * @return The new state.
    */
   protected Matrix<States, N1> updateX(
@@ -205,8 +193,7 @@ protected Matrix<States, N1> updateX(
   }
 
   /**
-   * Clamp the input vector such that no element exceeds the given voltage. If any
-   * does, the
+   * Clamp the input vector such that no element exceeds the given voltage. If any does, the
    * relative magnitudes of the input will be maintained.
    *
    * @param u The input vector.