original_docstring: Plots a step move to the goal.
  
      Args:
        params: AngularSystemParams for the controller and observer
        plant_params: AngularSystemParams for the plant.  Defaults to params if
          plant_params is None.
        R: numpy.matrix(2, 1), the goal
docstring: Plots a step move to the goal.
docstring_tokens: Plots a step move to the goal .
code: def PlotStep(params, R, plant_params=None):
      """Plots a step move to the goal.
  
      Args:
        params: AngularSystemParams for the controller and observer
        plant_params: AngularSystemParams for the plant.  Defaults to params if
          plant_params is None.
        R: numpy.matrix(2, 1), the goal"""
      plant = AngularSystem(plant_params or params, params.name)
      controller = IntegralAngularSystem(params, params.name)
      observer = IntegralAngularSystem(params, params.name)
  
      # Test moving the system.
      initial_X = numpy.matrix([[0.0], [0.0]])
      augmented_R = numpy.matrix(numpy.zeros((3, 1)))
      augmented_R[0:2, :] = R
      RunTest(
          plant,
          end_goal=augmented_R,
          controller=controller,
          observer=observer,
          duration=2.0,
          use_profile=False,
          kick_time=1.0,
          kick_magnitude=0.0)
code_tokens: def PlotStep ( params , R , plant_params = None ) : plant = AngularSystem ( plant_params or params , params . name ) controller = IntegralAngularSystem ( params , params . name ) observer = IntegralAngularSystem ( params , params . name ) initial_X = numpy . matrix ( [ [ 0.0 ] , [ 0.0 ] ] ) augmented_R = numpy . matrix ( numpy . zeros ( ( 3 , 1 ) ) ) augmented_R [ 0 : 2 , : ] = R RunTest ( plant , end_goal = augmented_R , controller = controller , observer = observer , duration = 2.0 , use_profile = False , kick_time = 1.0 , kick_magnitude = 0.0 )
short_docstring: Plots a step move to the goal.
short_docstring_tokens: Plots a step move to the goal .
comment: """Plots a step move to the goal.
  
      Args:
        params: AngularSystemParams for the controller and observer
        plant_params: AngularSystemParams for the plant.  Defaults to params if
          plant_params is None.
        R: numpy.matrix(2, 1), the goal"""$SEP$# Test moving the system.