original_docstring: 
          Compute desired output sequence given initial state and input sequence.
          This is computed by applying the true dynamics' feedback linearization.
          
docstring: Compute desired output sequence given initial state and input sequence.
  This is computed by applying the true dynamics' feedback linearization.
docstring_tokens: Compute desired output sequence given initial state and input sequence . This is computed by applying the true dynamics ' feedback linearization .
code: def _generate_ys(self, x0, refs,K):
          """
          Compute desired output sequence given initial state and input sequence.
          This is computed by applying the true dynamics' feedback linearization.
          """
          x = x0.copy()
          ys = []
          xs = []
          for r in refs:
              y=self._dynamics.linearized_system_state(x)
              ys.append(y.copy())
              xs.append(x.copy())
              diff = self._dynamics.linear_system_state_delta(r, y)
              v = -K @ diff
              u = self._dynamics.feedback(x, v)
              x = self._dynamics.integrate(x, u)
  
          return ys, xs
code_tokens: def _generate_ys ( self , x0 , refs , K ) : x = x0 . copy ( ) ys = [ ] xs = [ ] for r in refs : y = self . _dynamics . linearized_system_state ( x ) ys . append ( y . copy ( ) ) xs . append ( x . copy ( ) ) diff = self . _dynamics . linear_system_state_delta ( r , y ) v = - K @ diff u = self . _dynamics . feedback ( x , v ) x = self . _dynamics . integrate ( x , u ) return ys , xs
short_docstring: Compute desired output sequence given initial state and input sequence.
short_docstring_tokens: Compute desired output sequence given initial state and input sequence .
comment: """
          Compute desired output sequence given initial state and input sequence.
          This is computed by applying the true dynamics' feedback linearization.
          """