LinearSystem and related changes from Nengolib #1650
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And move them to `_vendor/scipy/signal`. This both makes it clearer that these functions come from Scipy, and makes it easier to update them because they are ignored for static checks/coverage tests. The version of Scipy used, and modifications made, are noted at the top of each file.
This allows arbitrary shapes to be used, since `np.dot` operates on the last dimension (the other dimensions are unchanged).
This network implements an arbitrary LinearSystem in neurons using an arbitrary synapse.
This demonstrates the use of a more advanced Principle 3 technique that avoids needing to filter the output (or state) of the LinearSystemNetwork. Also moved nrmse to utils/testing.py since it was used by multiple tests.
This allows new (potentially modified) FrozenObjects to be created.
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Motivation and context:
This is essentially a copy of #1611 that has been rebased to master. There are still some things left to do (static checks are failing, for example) but we decided to move the LinearSystem and other Synapse changes to a separate PR so that we could get Nengo 3.1 released soon.
Interactions with other PRs:
Based on #1611.
How long should this take to review?
Types of changes:
Checklist:
Still to do: