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[statesp.py] Fix pep8 warnings
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Lines changed: 47 additions & 48 deletions

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‎control/statesp.py‎

Lines changed: 47 additions & 48 deletions
Original file line numberDiff line numberDiff line change
@@ -10,7 +10,7 @@
1010

1111
# Python 3 compatibility (needs to go here)
1212
from __future__ import print_function
13-
from __future__ import division # for _convertToStateSpace
13+
from __future__ import division # for _convertToStateSpace
1414

1515
"""Copyright (c) 2010 by California Institute of Technology
1616
All rights reserved.
@@ -166,9 +166,9 @@ def __init__(self, *args):
166166
if 0 == self.states:
167167
# static gain
168168
# matrix's default "empty" shape is 1x0
169-
A.shape = (0,0)
170-
B.shape = (0,self.inputs)
171-
C.shape = (self.outputs,0)
169+
A.shape = (0, 0)
170+
B.shape = (0, self.inputs)
171+
C.shape = (self.outputs, 0)
172172

173173
# Check that the matrix sizes are consistent.
174174
if self.states != A.shape[0]:
@@ -200,13 +200,13 @@ def _remove_useless_states(self):
200200
# Search for useless states.
201201
for i in range(self.states):
202202
if (all(self.A[i, :] == zeros((1, self.states))) and
203-
all(self.B[i, :] == zeros((1, self.inputs)))):
203+
all(self.B[i, :] == zeros((1, self.inputs)))):
204204
useless.append(i)
205205
# To avoid duplicate indices in useless, jump to the next
206206
# iteration.
207207
continue
208208
if (all(self.A[:, i] == zeros((self.states, 1))) and
209-
all(self.C[:, i] == zeros((self.outputs, 1)))):
209+
all(self.C[:, i] == zeros((self.outputs, 1)))):
210210
useless.append(i)
211211

212212
# Remove the useless states.
@@ -227,9 +227,9 @@ def __str__(self):
227227
str += "C = " + self.C.__str__() + "\n\n"
228228
str += "D = " + self.D.__str__() + "\n"
229229
# TODO: replace with standard calls to lti functions
230-
if (type(self.dt) == bool and self.dt is True):
230+
if type(self.dt) == bool and self.dt is True:
231231
str += "\ndt unspecified\n"
232-
elif (not (self.dt is None) and type(self.dt) != bool and self.dt > 0):
232+
elif not (self.dt is None) and type(self.dt) != bool and self.dt > 0:
233233
str += "\ndt = " + self.dt.__str__() + "\n"
234234
return str
235235

@@ -262,20 +262,20 @@ def __add__(self, other):
262262

263263
# Figure out the sampling time to use
264264
if self.dt is None and other.dt is not None:
265-
dt = other.dt # use dt from second argument
265+
dt = other.dt # use dt from second argument
266266
elif (other.dt is None and self.dt is not None) or \
267267
(timebaseEqual(self, other)):
268-
dt = self.dt # use dt from first argument
268+
dt = self.dt # use dt from first argument
269269
else:
270270
raise ValueError("Systems have different sampling times")
271271

272272
# Concatenate the various arrays
273273
A = concatenate((
274274
concatenate((self.A, zeros((self.A.shape[0],
275-
other.A.shape[-1]))),axis=1),
275+
other.A.shape[-1]))), axis=1),
276276
concatenate((zeros((other.A.shape[0], self.A.shape[-1])),
277-
other.A),axis=1)
278-
),axis=0)
277+
other.A), axis=1)
278+
), axis=0)
279279
B = concatenate((self.B, other.B), axis=0)
280280
C = concatenate((self.C, other.C), axis=1)
281281
D = self.D + other.D
@@ -319,21 +319,20 @@ def __mul__(self, other):
319319
but B has %i row(s)\n(output(s))." % (self.inputs, other.outputs))
320320

321321
# Figure out the sampling time to use
322-
if (self.dt == None and other.dt != None):
323-
dt = other.dt # use dt from second argument
324-
elif (other.dt == None and self.dt != None) or \
325-
(timebaseEqual(self, other)):
326-
dt = self.dt # use dt from first argument
322+
if self.dt is None and other.dt is not None:
323+
dt = other.dt # use dt from second argument
324+
elif other.dt is None and self.dt is not None or timebaseEqual(self, other):
325+
dt = self.dt # use dt from first argument
327326
else:
328327
raise ValueError("Systems have different sampling times")
329328

330329
# Concatenate the various arrays
331330
A = concatenate(
332-
(concatenate((other.A, zeros((other.A.shape[0], self.A.shape[1]))),
333-
axis=1),
334-
concatenate((self.B * other.C, self.A), axis=1)), axis=0)
331+
(concatenate((other.A, zeros((other.A.shape[0], self.A.shape[1]))),
332+
axis=1),
333+
concatenate((self.B * other.C, self.A), axis=1)), axis=0)
335334
B = concatenate((other.B, self.B * other.D), axis=0)
336-
C = concatenate((self.D * other.C, self.C),axis=1)
335+
C = concatenate((self.D * other.C, self.C), axis=1)
337336
D = self.D * other.D
338337

339338
return StateSpace(A, B, C, D, dt)
@@ -497,7 +496,7 @@ def freqresp(self, omega):
497496

498497
# kk+1 because enumerate starts at kk = 0.
499498
# but zero-th spot is already filled.
500-
Gfrf[:, :, kk+1] = result[0] + self.D
499+
Gfrf[:, :, kk + 1] = result[0] + self.D
501500

502501
except ImportError: # Slycot unavailable. Fall back to horner.
503502
for kk, cmplx_freqs_kk in enumerate(cmplx_freqs):
@@ -562,14 +561,14 @@ def feedback(self, other=1, sign=-1):
562561

563562
# Check to make sure the dimensions are OK
564563
if (self.inputs != other.outputs) or (self.outputs != other.inputs):
565-
raise ValueError("State space systems don't have compatible inputs/outputs for "
566-
"feedback.")
564+
raise ValueError("State space systems don't have compatible inputs/outputs for "
565+
"feedback.")
567566

568567
# Figure out the sampling time to use
569568
if self.dt is None and other.dt is not None:
570-
dt = other.dt # use dt from second argument
569+
dt = other.dt # use dt from second argument
571570
elif other.dt is None and self.dt is not None or timebaseEqual(self, other):
572-
dt = self.dt # use dt from first argument
571+
dt = self.dt # use dt from first argument
573572
else:
574573
raise ValueError("Systems have different sampling times")
575574

@@ -614,19 +613,18 @@ def minreal(self, tol=0.0):
614613
try:
615614
from slycot import tb01pd
616615
B = empty((self.states, max(self.inputs, self.outputs)))
617-
B[:,:self.inputs] = self.B
616+
B[:, :self.inputs] = self.B
618617
C = empty((max(self.outputs, self.inputs), self.states))
619-
C[:self.outputs,:] = self.C
618+
C[:self.outputs, :] = self.C
620619
A, B, C, nr = tb01pd(self.states, self.inputs, self.outputs,
621620
self.A, B, C, tol=tol)
622-
return StateSpace(A[:nr,:nr], B[:nr,:self.inputs],
623-
C[:self.outputs,:nr], self.D)
621+
return StateSpace(A[:nr, :nr], B[:nr, :self.inputs],
622+
C[:self.outputs, :nr], self.D)
624623
except ImportError:
625624
raise TypeError("minreal requires slycot tb01pd")
626625
else:
627626
return StateSpace(self)
628627

629-
630628
# TODO: add discrete time check
631629
def returnScipySignalLTI(self):
632630
"""Return a list of a list of scipy.signal.lti objects.
@@ -750,7 +748,7 @@ def dcgain(self):
750748
"""
751749
try:
752750
if self.isctime():
753-
gain = np.asarray(self.D-self.C.dot(np.linalg.solve(self.A, self.B)))
751+
gain = np.asarray(self.D - self.C.dot(np.linalg.solve(self.A, self.B)))
754752
else:
755753
gain = self.horner(1)
756754
except LinAlgError:
@@ -839,18 +837,19 @@ def _convertToStateSpace(sys, **kw):
839837
# The following Doesn't work due to inconsistencies in ltisys:
840838
# return StateSpace([[]], [[]], [[]], eye(outputs, inputs))
841839
return StateSpace(0., zeros((1, inputs)), zeros((outputs, 1)),
842-
sys * ones((outputs, inputs)))
840+
sys * ones((outputs, inputs)))
843841

844842
# If this is a matrix, try to create a constant feedthrough
845843
try:
846844
D = _matrix(sys)
847845
return StateSpace([], [], [], D)
848846
except Exception as e:
849847
print("Failure to assume argument is matrix-like in" \
850-
" _convertToStateSpace, result %s" % e)
848+
" _convertToStateSpace, result %s" % e)
851849

852850
raise TypeError("Can't convert given type to StateSpace system.")
853851

852+
854853
# TODO: add discrete time option
855854
def _rss_generate(states, inputs, outputs, type):
856855
"""Generate a random state space.
@@ -876,13 +875,13 @@ def _rss_generate(states, inputs, outputs, type):
876875
# Check for valid input arguments.
877876
if states < 1 or states % 1:
878877
raise ValueError("states must be a positive integer. states = %g." %
879-
states)
878+
states)
880879
if inputs < 1 or inputs % 1:
881880
raise ValueError("inputs must be a positive integer. inputs = %g." %
882-
inputs)
881+
inputs)
883882
if outputs < 1 or outputs % 1:
884883
raise ValueError("outputs must be a positive integer. outputs = %g." %
885-
outputs)
884+
outputs)
886885

887886
# Make some poles for A. Preallocate a complex array.
888887
poles = zeros(states) + zeros(states) * 0.j
@@ -892,13 +891,13 @@ def _rss_generate(states, inputs, outputs, type):
892891
if rand() < pRepeat and i != 0 and i != states - 1:
893892
# Small chance of copying poles, if we're not at the first or last
894893
# element.
895-
if poles[i-1].imag == 0:
894+
if poles[i - 1].imag == 0:
896895
# Copy previous real pole.
897-
poles[i] = poles[i-1]
896+
poles[i] = poles[i - 1]
898897
i += 1
899898
else:
900899
# Copy previous complex conjugate pair of poles.
901-
poles[i:i+2] = poles[i-2:i]
900+
poles[i:i + 2] = poles[i - 2:i]
902901
i += 2
903902
elif rand() < pReal or i == states - 1:
904903
# No-oscillation pole.
@@ -915,7 +914,7 @@ def _rss_generate(states, inputs, outputs, type):
915914
mag = rand()
916915
phase = 2. * math.pi * rand()
917916
poles[i] = complex(mag * cos(phase), mag * sin(phase))
918-
poles[i+1] = complex(poles[i].real, -poles[i].imag)
917+
poles[i + 1] = complex(poles[i].real, -poles[i].imag)
919918
i += 2
920919

921920
# Now put the poles in A as real blocks on the diagonal.
@@ -926,9 +925,9 @@ def _rss_generate(states, inputs, outputs, type):
926925
A[i, i] = poles[i].real
927926
i += 1
928927
else:
929-
A[i, i] = A[i+1, i+1] = poles[i].real
930-
A[i, i+1] = poles[i].imag
931-
A[i+1, i] = -poles[i].imag
928+
A[i, i] = A[i + 1, i + 1] = poles[i].real
929+
A[i, i + 1] = poles[i].imag
930+
A[i + 1, i] = -poles[i].imag
932931
i += 2
933932
# Finally, apply a transformation so that A is not block-diagonal.
934933
while True:
@@ -970,7 +969,7 @@ def _rss_generate(states, inputs, outputs, type):
970969
# Convert a MIMO system to a SISO system
971970
# TODO: add discrete time check
972971
def _mimo2siso(sys, input, output, warn_conversion=False):
973-
#pylint: disable=W0622
972+
# pylint: disable=W0622
974973
"""
975974
Convert a MIMO system to a SISO system. (Convert a system with multiple
976975
inputs and/or outputs, to a system with a single input and output.)
@@ -1010,7 +1009,7 @@ def _mimo2siso(sys, input, output, warn_conversion=False):
10101009
"Selected output: {sel}, "
10111010
"number of system outputs: {ext}."
10121011
.format(sel=output, ext=sys.outputs))
1013-
#Convert sys to SISO if necessary
1012+
# Convert sys to SISO if necessary
10141013
if sys.inputs > 1 or sys.outputs > 1:
10151014
if warn_conversion:
10161015
warn("Converting MIMO system to SISO system. "
@@ -1065,7 +1064,7 @@ def _mimo2simo(sys, input, warn_conversion=False):
10651064
if sys.inputs > 1:
10661065
if warn_conversion:
10671066
warn("Converting MIMO system to SIMO system. "
1068-
"Only input {i} is used." .format(i=input))
1067+
"Only input {i} is used.".format(i=input))
10691068
# $X = A*X + B*U
10701069
# Y = C*X + D*U
10711070
new_B = sys.B[:, input]

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