def test_static_model_conversion_sampling_period():
G = State(np.eye(5), dt=0.001)
H = state_to_transfer(G)
assert_(H._isgain) # 0
assert_(not H._isSISO) # 1
assert_equal(H.SamplingPeriod, 0.001) # 2
K = transfer_to_state(H)
assert_equal(K.SamplingPeriod, 0.001) # 3
def test_static_model_conversion_sampling_period():
G = State(np.eye(5), dt=0.001)
H = state_to_transfer(G)
assert_(H._isgain) # 0
assert_(not H._isSISO) # 1
assert_equal(H.SamplingPeriod, 0.001) # 2
K = transfer_to_state(H)
assert_equal(K.SamplingPeriod, 0.001) # 3
def test_Transfer_slicing():
Hind = [(1, 5), (4, 1), (4, 5), (1, 1), (2, 5), (4, 2), (2, 5), (4, 2),
(1, 2), (2, 1), (2, 5), (4, 3)]
np.random.seed(1234)
H = state_to_transfer(
State(np.random.rand(3, 3), np.random.rand(3, 5), np.random.rand(4,
3)))
F = Transfer(np.random.rand(4, 5))
for s, sind in ((H, Hind), (F, Hind)):
for ind, x in enumerate([
s[1, :], s[:, 1], s[:, :], s[0, 0], s[1:3, :], s[:, 1:3],
s[[1, 2], :], s[:, [1, 2]], s[2, [1, 2]], s[[1, 2], 2],
s[::2, :], s[:, ::2]
]):
assert_equal(x.shape, sind[ind])
assert_raises(ValueError, H.__setitem__)
def test_Transfer_slicing():
Hind = [(1, 5), (4, 1),
(4, 5), (1, 1),
(2, 5), (4, 2),
(2, 5), (4, 2),
(1, 2), (2, 1),
(2, 5), (4, 3)]
np.random.seed(1234)
H = state_to_transfer(State(np.random.rand(3, 3),
np.random.rand(3, 5),
np.random.rand(4, 3)))
F = Transfer(np.random.rand(4, 5))
for s, sind in ((H, Hind), (F, Hind)):
for ind, x in enumerate([s[1, :], s[:, 1],
s[:, :], s[0, 0],
s[1:3, :], s[:, 1:3],
s[[1, 2], :], s[:, [1, 2]],
s[2, [1, 2]], s[[1, 2], 2],
s[::2, :], s[:, ::2]]):
assert_equal(x.shape, sind[ind])
assert_raises(ValueError, H.__setitem__)
def test_state_to_transfer():
G = State(-2 * np.eye(2), np.eye(2), [[1, -3], [0, 0]], [[0, 1], [-1, 0]])
H = state_to_transfer(G)
H11 = H[1, 1]
assert_array_equal(H11.num, np.array([[0.]]))
assert_array_equal(H11.den, np.array([[1.]]))
def test_state_to_transfer():
G = State(-2*np.eye(2), np.eye(2), [[1, -3], [0, 0]], [[0, 1], [-1, 0]])
H = state_to_transfer(G)
H11 = H[1, 1]
assert_array_equal(H11.num, np.array([[0.]]))
assert_array_equal(H11.den, np.array([[1.]]))
