get rid of deprecated scipy calls

bnavigator · bnavigator · commit 20163863b1a6 · 2020-08-18T12:54:35.000+02:00
diff --git a/control/freqplot.py b/control/freqplot.py
@@ -40,11 +40,13 @@
 # SUCH DAMAGE.
 #
 # $Id$
+
+import math
+
 import matplotlib as mpl
 import matplotlib.pyplot as plt
-import scipy as sp
 import numpy as np
-import math
+
 from .ctrlutil import unwrap
 from .bdalg import feedback
 from .margins import stability_margins
@@ -184,12 +186,12 @@ def bode_plot(syslist, omega=None,
             if Hz:
                 omega_limits *= 2. * math.pi
             if omega_num:
-                omega = sp.logspace(np.log10(omega_limits[0]),
+                omega = np.logspace(np.log10(omega_limits[0]),
                                     np.log10(omega_limits[1]),
                                     num=omega_num,
                                     endpoint=True)
             else:
-                omega = sp.logspace(np.log10(omega_limits[0]),
+                omega = np.logspace(np.log10(omega_limits[0]),
                                     np.log10(omega_limits[1]),
                                     endpoint=True)
 
@@ -530,8 +532,8 @@ def nyquist_plot(syslist, omega=None, plot=True, label_freq=0,
             phase = np.squeeze(phase_tmp)
 
             # Compute the primary curve
-            x = sp.multiply(mag, sp.cos(phase))
-            y = sp.multiply(mag, sp.sin(phase))
+            x = np.multiply(mag, np.cos(phase))
+            y = np.multiply(mag, np.sin(phase))
 
             if plot:
                 # Plot the primary curve and mirror image
@@ -557,7 +559,7 @@ def nyquist_plot(syslist, omega=None, plot=True, label_freq=0,
                 ind = slice(None, None, label_freq)
                 for xpt, ypt, omegapt in zip(x[ind], y[ind], omega[ind]):
                     # Convert to Hz
-                    f = omegapt / (2 * sp.pi)
+                    f = omegapt / (2 * np.pi)
 
                     # Factor out multiples of 1000 and limit the
                     # result to the range [-8, 8].
diff --git a/control/nichols.py b/control/nichols.py
@@ -49,7 +49,6 @@
 #
 # $Id: freqplot.py 139 2011-03-30 16:19:59Z murrayrm $
 
-import scipy as sp
 import numpy as np
 import matplotlib.pyplot as plt
 from .ctrlutil import unwrap
@@ -102,8 +101,8 @@ def nichols_plot(sys_list, omega=None, grid=None):
 
         # Convert to Nichols-plot format (phase in degrees,
         # and magnitude in dB)
-        x = unwrap(sp.degrees(phase), 360)
-        y = 20*sp.log10(mag)
+        x = unwrap(np.degrees(phase), 360)
+        y = 20*np.log10(mag)
 
         # Generate the plot
         plt.plot(x, y)
@@ -183,13 +182,13 @@ def nichols_grid(cl_mags=None, cl_phases=None, line_style='dotted'):
     # Find the M-contours
     m = m_circles(cl_mags, phase_min=np.min(cl_phases),
                   phase_max=np.max(cl_phases))
-    m_mag = 20*sp.log10(np.abs(m))
-    m_phase = sp.mod(sp.degrees(sp.angle(m)), -360.0)  # Unwrap
+    m_mag = 20*np.log10(np.abs(m))
+    m_phase = np.mod(np.degrees(np.angle(m)), -360.0)  # Unwrap
 
     # Find the N-contours
     n = n_circles(cl_phases, mag_min=np.min(cl_mags), mag_max=np.max(cl_mags))
-    n_mag = 20*sp.log10(np.abs(n))
-    n_phase = sp.mod(sp.degrees(sp.angle(n)), -360.0)  # Unwrap
+    n_mag = 20*np.log10(np.abs(n))
+    n_phase = np.mod(np.degrees(np.angle(n)), -360.0)  # Unwrap
 
     # Plot the contours behind other plot elements.
     # The "phase offset" is used to produce copies of the chart that cover
@@ -247,7 +246,7 @@ def closed_loop_contours(Gcl_mags, Gcl_phases):
     # Compute the contours in Gcl-space. Since we're given closed-loop
     # magnitudes and phases, this is just a case of converting them into
     # a complex number.
-    Gcl = Gcl_mags*sp.exp(1.j*Gcl_phases)
+    Gcl = Gcl_mags*np.exp(1.j*Gcl_phases)
 
     # Invert Gcl = Gol/(1+Gol) to map the contours into the open-loop space
     return Gcl/(1.0 - Gcl)
@@ -274,8 +273,8 @@ def m_circles(mags, phase_min=-359.75, phase_max=-0.25):
     """
     # Convert magnitudes and phase range into a grid suitable for
     # building contours
-    phases = sp.radians(sp.linspace(phase_min, phase_max, 2000))
-    Gcl_mags, Gcl_phases = sp.meshgrid(10.0**(mags/20.0), phases)
+    phases = np.radians(np.linspace(phase_min, phase_max, 2000))
+    Gcl_mags, Gcl_phases = np.meshgrid(10.0**(mags/20.0), phases)
     return closed_loop_contours(Gcl_mags, Gcl_phases)
 
 
@@ -300,8 +299,8 @@ def n_circles(phases, mag_min=-40.0, mag_max=12.0):
     """
     # Convert phases and magnitude range into a grid suitable for
     # building contours
-    mags = sp.linspace(10**(mag_min/20.0), 10**(mag_max/20.0), 2000)
-    Gcl_phases, Gcl_mags = sp.meshgrid(sp.radians(phases), mags)
+    mags = np.linspace(10**(mag_min/20.0), 10**(mag_max/20.0), 2000)
+    Gcl_phases, Gcl_mags = np.meshgrid(np.radians(phases), mags)
     return closed_loop_contours(Gcl_mags, Gcl_phases)
 
 
