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| 1 | +"""trdata_test.py - test return values from time response functions |
| 2 | +
|
| 3 | +RMM, 22 Aug 2021 |
| 4 | +
|
| 5 | +This set of unit tests covers checks to make sure that the various time |
| 6 | +response functions are returning the right sets of objects in the (new) |
| 7 | +InputOutputResponse class. |
| 8 | +
|
| 9 | +""" |
| 10 | + |
| 11 | +import pytest |
| 12 | + |
| 13 | +import numpy as np |
| 14 | +import control as ct |
| 15 | + |
| 16 | + |
| 17 | +@pytest.mark.parametrize( |
| 18 | + "nout, nin, squeeze", [ |
| 19 | + [1, 1, None], |
| 20 | + [1, 1, True], |
| 21 | + [1, 1, False], |
| 22 | + [1, 2, None], |
| 23 | + [1, 2, True], |
| 24 | + [1, 2, False], |
| 25 | + [2, 1, None], |
| 26 | + [2, 1, True], |
| 27 | + [2, 1, False], |
| 28 | + [2, 2, None], |
| 29 | + [2, 2, True], |
| 30 | + [2, 2, False], |
| 31 | +]) |
| 32 | +def test_trdata_shapes(nin, nout, squeeze): |
| 33 | + # SISO, single trace |
| 34 | + sys = ct.rss(4, nout, nin, strictly_proper=True) |
| 35 | + T = np.linspace(0, 1, 10) |
| 36 | + U = np.outer(np.ones(nin), np.sin(T) ) |
| 37 | + X0 = np.ones(sys.nstates) |
| 38 | + |
| 39 | + # |
| 40 | + # Initial response |
| 41 | + # |
| 42 | + res = ct.initial_response(sys, X0=X0) |
| 43 | + ntimes = res.time.shape[0] |
| 44 | + |
| 45 | + # Check shape of class members |
| 46 | + assert len(res.time.shape) == 1 |
| 47 | + assert res.y.shape == (sys.noutputs, ntimes) |
| 48 | + assert res.x.shape == (sys.nstates, ntimes) |
| 49 | + assert res.u is None |
| 50 | + |
| 51 | + # Check shape of class properties |
| 52 | + if sys.issiso(): |
| 53 | + assert res.outputs.shape == (ntimes,) |
| 54 | + assert res.states.shape == (sys.nstates, ntimes) |
| 55 | + assert res.inputs is None |
| 56 | + elif res.squeeze is True: |
| 57 | + assert res.outputs.shape == (ntimes, ) |
| 58 | + assert res.states.shape == (sys.nstates, ntimes) |
| 59 | + assert res.inputs is None |
| 60 | + else: |
| 61 | + assert res.outputs.shape == (sys.noutputs, ntimes) |
| 62 | + assert res.states.shape == (sys.nstates, ntimes) |
| 63 | + assert res.inputs is None |
| 64 | + |
| 65 | + # |
| 66 | + # Impulse and step response |
| 67 | + # |
| 68 | + for fcn in (ct.impulse_response, ct.step_response): |
| 69 | + res = fcn(sys, squeeze=squeeze) |
| 70 | + ntimes = res.time.shape[0] |
| 71 | + |
| 72 | + # Check shape of class members |
| 73 | + assert len(res.time.shape) == 1 |
| 74 | + assert res.y.shape == (sys.noutputs, sys.ninputs, ntimes) |
| 75 | + assert res.x.shape == (sys.nstates, sys.ninputs, ntimes) |
| 76 | + assert res.u.shape == (sys.ninputs, sys.ninputs, ntimes) |
| 77 | + |
| 78 | + # Check shape of inputs and outputs |
| 79 | + if sys.issiso() and squeeze is not False: |
| 80 | + assert res.outputs.shape == (ntimes, ) |
| 81 | + assert res.inputs.shape == (ntimes, ) |
| 82 | + elif res.squeeze is True: |
| 83 | + assert res.outputs.shape == \ |
| 84 | + np.empty((sys.noutputs, sys.ninputs, ntimes)).squeeze().shape |
| 85 | + assert res.inputs.shape == \ |
| 86 | + np.empty((sys.ninputs, sys.ninputs, ntimes)).squeeze().shape |
| 87 | + else: |
| 88 | + assert res.outputs.shape == (sys.noutputs, sys.ninputs, ntimes) |
| 89 | + assert res.inputs.shape == (sys.ninputs, sys.ninputs, ntimes) |
| 90 | + |
| 91 | + # Check state space dimensions (not affected by squeeze) |
| 92 | + if sys.issiso(): |
| 93 | + assert res.states.shape == (sys.nstates, ntimes) |
| 94 | + else: |
| 95 | + assert res.states.shape == (sys.nstates, sys.ninputs, ntimes) |
| 96 | + |
| 97 | + # |
| 98 | + # Forced response |
| 99 | + # |
| 100 | + res = ct.forced_response(sys, T, U, X0, squeeze=squeeze) |
| 101 | + ntimes = res.time.shape[0] |
| 102 | + |
| 103 | + assert len(res.time.shape) == 1 |
| 104 | + assert res.y.shape == (sys.noutputs, ntimes) |
| 105 | + assert res.x.shape == (sys.nstates, ntimes) |
| 106 | + assert res.u.shape == (sys.ninputs, ntimes) |
| 107 | + |
| 108 | + if sys.issiso() and squeeze is not False: |
| 109 | + assert res.outputs.shape == (ntimes,) |
| 110 | + assert res.inputs.shape == (ntimes,) |
| 111 | + elif squeeze is True: |
| 112 | + assert res.outputs.shape == \ |
| 113 | + np.empty((sys.noutputs, 1, ntimes)).squeeze().shape |
| 114 | + assert res.inputs.shape == \ |
| 115 | + np.empty((sys.ninputs, 1, ntimes)).squeeze().shape |
| 116 | + else: # MIMO or squeeze is False |
| 117 | + assert res.outputs.shape == (sys.noutputs, ntimes) |
| 118 | + assert res.inputs.shape == (sys.ninputs, ntimes) |
| 119 | + |
| 120 | + # Check state space dimensions (not affected by squeeze) |
| 121 | + assert res.states.shape == (sys.nstates, ntimes) |
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