def test_reset_defaults(self):
ct.use_matlab_defaults()
ct.reset_defaults()
assert not ct.config.defaults['bode.dB']
assert ct.config.defaults['bode.deg']
assert not ct.config.defaults['bode.Hz']
assert ct.config.defaults['freqplot.number_of_samples'] is None
assert ct.config.defaults['freqplot.feature_periphery_decades'] == 1.0
def test_reset_defaults(self):
ct.use_matlab_defaults()
ct.reset_defaults()
self.assertEquals(ct.config.bode_dB, False)
self.assertEquals(ct.config.bode_deg, True)
self.assertEquals(ct.config.bode_Hz, False)
self.assertEquals(ct.config.bode_number_of_samples, None)
self.assertEquals(ct.config.bode_feature_periphery_decade, 1.0)
def test_reset_defaults(self):
ct.use_matlab_defaults()
ct.reset_defaults()
self.assertEqual(ct.config.defaults['bode.dB'], False)
self.assertEqual(ct.config.defaults['bode.deg'], True)
self.assertEqual(ct.config.defaults['bode.Hz'], False)
self.assertEqual(ct.config.defaults['freqplot.number_of_samples'],
None)
self.assertEqual(
ct.config.defaults['freqplot.feature_periphery_decades'], 1.0)
def test_legacy_defaults(self):
ct.use_legacy_defaults('0.8.3')
assert(isinstance(ct.ss(0,0,0,1).D, np.matrix))
ct.reset_defaults()
assert(isinstance(ct.ss(0,0,0,1).D, np.ndarray))
# test that old versions don't raise a problem
ct.use_legacy_defaults('0.6c')
ct.use_legacy_defaults('0.8.2')
ct.use_legacy_defaults('0.1')
ct.config.reset_defaults()
def control_defaults():
"""Make sure the testing session always starts with the defaults.
This should be the first fixture initialized,
so that all other fixtures see the general defaults (unless they set them
themselves) even before importing control/__init__. Enforce this by adding
it as an argument to all other session scoped fixtures.
"""
control.reset_defaults()
the_defaults = control.config.defaults.copy()
yield
# assert that nothing changed it without reverting
assert control.config.defaults == the_defaults
def test_bode_number_of_samples(self):
# Set the number of samples (default is 50, from np.logspace)
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
self.assertEqual(len(mag_ret), 87)
# Change the default number of samples
ct.config.defaults['freqplot.number_of_samples'] = 76
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys)
self.assertEqual(len(mag_ret), 76)
# Override the default number of samples
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
self.assertEqual(len(mag_ret), 87)
ct.reset_defaults()
def test_bode_number_of_samples(self):
# Set the number of samples (default is 50, from np.logspace)
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
self.assertEqual(len(mag_ret), 87)
# Change the default number of samples
ct.config.bode_number_of_samples = 76
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys)
self.assertEqual(len(mag_ret), 76)
# Override the default number of samples
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, omega_num=87)
self.assertEqual(len(mag_ret), 87)
ct.reset_defaults()
def test_matlab_bode(self):
ct.use_matlab_defaults()
# Generate a Bode plot
plt.figure()
omega = np.logspace(-3, 3, 100)
ct.bode_plot(self.sys, omega)
# Get the magnitude line
mag_axis = plt.gcf().axes[0]
mag_line = mag_axis.get_lines()
mag_data = mag_line[0].get_data()
mag_x, mag_y = mag_data
# Make sure the x-axis is in rad/sec and y-axis is in dB
np.testing.assert_almost_equal(mag_x[0], 0.001, decimal=6)
np.testing.assert_almost_equal(mag_y[0], 20 * log10(10), decimal=3)
# Get the phase line
phase_axis = plt.gcf().axes[1]
phase_line = phase_axis.get_lines()
phase_data = phase_line[0].get_data()
phase_x, phase_y = phase_data
# Make sure the x-axis is in rad/sec and y-axis is in degrees
np.testing.assert_almost_equal(phase_x[-1], 1000, decimal=1)
np.testing.assert_almost_equal(phase_y[-1], -180, decimal=0)
# Override the defaults and make sure that works as well
plt.figure()
ct.bode_plot(self.sys, omega, dB=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_y[0], 20 * log10(10), decimal=3)
plt.figure()
ct.bode_plot(self.sys, omega, Hz=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_x[0], 0.001 / (2 * pi), decimal=6)
plt.figure()
ct.bode_plot(self.sys, omega, deg=False)
phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
ct.reset_defaults()
def test_matlab_bode(self):
ct.use_matlab_defaults();
# Generate a Bode plot
plt.figure()
omega = np.logspace(-3, 3, 100)
ct.bode_plot(self.sys, omega)
# Get the magnitude line
mag_axis = plt.gcf().axes[0]
mag_line = mag_axis.get_lines()
mag_data = mag_line[0].get_data()
mag_x, mag_y = mag_data
# Make sure the x-axis is in Hertz and y-axis is in dB
np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
# Get the phase line
phase_axis = plt.gcf().axes[1]
phase_line = phase_axis.get_lines()
phase_data = phase_line[0].get_data()
phase_x, phase_y = phase_data
# Make sure the x-axis is in Hertz and y-axis is in degrees
np.testing.assert_almost_equal(phase_x[-1], 1000 / (2*pi), decimal=1)
np.testing.assert_almost_equal(phase_y[-1], -180, decimal=0)
# Override the defaults and make sure that works as well
plt.figure()
ct.bode_plot(self.sys, omega, dB=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
plt.figure()
ct.bode_plot(self.sys, omega, Hz=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
plt.figure()
ct.bode_plot(self.sys, omega, deg=False)
phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
ct.reset_defaults()
def test_bode_feature_periphery_decade(self):
# Generate a sample Bode plot to figure out the range it uses
ct.reset_defaults() # Make sure starting state is correct
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=False)
omega_min, omega_max = omega_ret[[0, -1]]
# Reset the periphery decade value (should add one decade on each end)
ct.config.defaults['freqplot.feature_periphery_decades'] = 2
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=False)
np.testing.assert_almost_equal(omega_ret[0], omega_min / 10)
np.testing.assert_almost_equal(omega_ret[-1], omega_max * 10)
# Make sure it also works in rad/sec, in opposite direction
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=True)
omega_min, omega_max = omega_ret[[0, -1]]
ct.config.defaults['freqplot.feature_periphery_decades'] = 1
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=True)
np.testing.assert_almost_equal(omega_ret[0], omega_min * 10)
np.testing.assert_almost_equal(omega_ret[-1], omega_max / 10)
def test_bode_feature_periphery_decade(self):
# Generate a sample Bode plot to figure out the range it uses
ct.reset_defaults() # Make sure starting state is correct
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=False)
omega_min, omega_max = omega_ret[[0, -1]]
# Reset the periphery decade value (should add one decade on each end)
ct.config.bode_feature_periphery_decade = 2
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=False)
np.testing.assert_almost_equal(omega_ret[0], omega_min/10)
np.testing.assert_almost_equal(omega_ret[-1], omega_max * 10)
# Make sure it also works in rad/sec, in opposite direction
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=True)
omega_min, omega_max = omega_ret[[0, -1]]
ct.config.bode_feature_periphery_decade = 1
mag_ret, phase_ret, omega_ret = ct.bode_plot(self.sys, Hz=True)
np.testing.assert_almost_equal(omega_ret[0], omega_min*10)
np.testing.assert_almost_equal(omega_ret[-1], omega_max/10)
ct.reset_defaults()
def test_custom_bode_default(self):
ct.config.defaults['bode.dB'] = True
ct.config.defaults['bode.deg'] = True
ct.config.defaults['bode.Hz'] = True
# Generate a Bode plot
plt.figure()
omega = np.logspace(-3, 3, 100)
ct.bode_plot(self.sys, omega, dB=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_y[0], 20 * log10(10), decimal=3)
# Override defaults
plt.figure()
ct.bode_plot(self.sys, omega, Hz=True, deg=False, dB=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_x[0], 0.001 / (2 * pi), decimal=6)
np.testing.assert_almost_equal(mag_y[0], 20 * log10(10), decimal=3)
np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
ct.reset_defaults()
def test_custom_bode_default(self):
ct.bode_dB = True
ct.bode_deg = True
ct.bode_Hz = True
# Generate a Bode plot
plt.figure()
omega = np.logspace(-3, 3, 100)
ct.bode_plot(self.sys, omega, dB=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
# Override defaults
plt.figure()
ct.bode_plot(self.sys, omega, Hz=True, deg=False, dB=True)
mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
np.testing.assert_almost_equal(phase_y[-1], -pi, decimal=2)
ct.reset_defaults()
def test_legacy_defaults(self):
with pytest.deprecated_call():
ct.use_legacy_defaults('0.8.3')
assert(isinstance(ct.ss(0, 0, 0, 1).D, np.matrix))
ct.reset_defaults()
assert(isinstance(ct.ss(0, 0, 0, 1).D, np.ndarray))
assert(not isinstance(ct.ss(0, 0, 0, 1).D, np.matrix))
ct.use_legacy_defaults('0.9.0')
assert(isinstance(ct.ss(0, 0, 0, 1).D, np.ndarray))
assert(not isinstance(ct.ss(0, 0, 0, 1).D, np.matrix))
# test that old versions don't raise a problem
ct.use_legacy_defaults('REL-0.1')
ct.use_legacy_defaults('control-0.3a')
ct.use_legacy_defaults('0.6c')
ct.use_legacy_defaults('0.8.2')
ct.use_legacy_defaults('0.1')
# Make sure that nonsense versions generate an error
with pytest.raises(ValueError):
ct.use_legacy_defaults("a.b.c")
with pytest.raises(ValueError):
ct.use_legacy_defaults("1.x.3")
def test_legacy_defaults(self):
ct.use_legacy_defaults('0.8.3')
assert (isinstance(ct.ss(0, 0, 0, 1).D, np.matrix))
ct.reset_defaults()
assert (isinstance(ct.ss(0, 0, 0, 1).D, np.ndarray))
def tearDown(self):
ct.reset_defaults()