remove python2 future imports

bnavigator · bnavigator · commit 7d97ef9fb177 · 2021-12-02T13:22:14.000+01:00
diff --git a/control/delay.py b/control/delay.py
@@ -42,7 +42,6 @@
 #
 # $Id$
 
-from __future__ import division
 
 __all__ = ['pade']
 
diff --git a/control/frdata.py b/control/frdata.py
@@ -35,7 +35,6 @@
 # Author: M.M. (Rene) van Paassen (using xferfcn.py as basis)
 # Date: 02 Oct 12
 
-from __future__ import division
 
 """
 Frequency response data representation and functions.
diff --git a/control/margins.py b/control/margins.py
@@ -9,9 +9,6 @@
 margins.margin
 """
 
-# Python 3 compatibility (needs to go here)
-from __future__ import print_function
-
 """Copyright (c) 2011 by California Institute of Technology
 All rights reserved.
 
diff --git a/control/modelsimp.py b/control/modelsimp.py
@@ -40,9 +40,6 @@
 #
 # $Id$
 
-# Python 3 compatibility
-from __future__ import print_function
-
 # External packages and modules
 import numpy as np
 import warnings
diff --git a/control/phaseplot.py b/control/phaseplot.py
@@ -34,9 +34,6 @@
 # IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-# Python 3 compatibility
-from __future__ import print_function
-
 import numpy as np
 import matplotlib.pyplot as mpl
 
diff --git a/control/statesp.py b/control/statesp.py
@@ -8,10 +8,6 @@
 
 """
 
-# Python 3 compatibility (needs to go here)
-from __future__ import print_function
-from __future__ import division         # for _convert_to_statespace
-
 """Copyright (c) 2010 by California Institute of Technology
 All rights reserved.
 
diff --git a/control/tests/convert_test.py b/control/tests/convert_test.py
@@ -14,8 +14,6 @@
 
 """
 
-from __future__ import print_function
-from warnings import warn
 
 import numpy as np
 import pytest
diff --git a/control/tests/delay_test.py b/control/tests/delay_test.py
@@ -4,8 +4,6 @@
 Primitive; ideally test to numerical limits
 """
 
-from __future__ import division
-
 import numpy as np
 import pytest
 
@@ -94,4 +92,3 @@ def testT0(self):
                     np.array(refnum), np.array(num))
                 np.testing.assert_array_almost_equal_nulp(
                     np.array(refden), np.array(den))
-
diff --git a/control/tests/iosys_test.py b/control/tests/iosys_test.py
@@ -8,12 +8,10 @@
 created for that purpose.
 """
 
-from __future__ import print_function
 import re
 
 import numpy as np
 import pytest
-import scipy as sp
 
 import control as ct
 from control import iosys as ios
@@ -1270,7 +1268,7 @@ def test_lineariosys_statespace(self, tsys):
             (2, 2, 'rss', ct.LinearIOSystem.__rsub__, 2, 2),
             (2, 2, 2, ct.LinearIOSystem.__rsub__, 2, 2),
             (2, 2, np.random.rand(2, 2), ct.LinearIOSystem.__rsub__, 2, 2),
-            
+
         ])
     def test_operand_conversion(self, Pout, Pin, C, op, PCout, PCin):
         P = ct.LinearIOSystem(
diff --git a/control/tests/margin_test.py b/control/tests/margin_test.py
@@ -6,7 +6,6 @@
 BG, 30 Jun 2020 -- convert to pytest, gh-425
 BG, 16 Nov 2020 -- pick from gh-438 and add discrete test
 """
-from __future__ import print_function
 
 import numpy as np
 import pytest
diff --git a/control/xferfcn.py b/control/xferfcn.py
@@ -7,10 +7,6 @@
 for the python-control library.
 """
 
-# Python 3 compatibility (needs to go here)
-from __future__ import print_function
-from __future__ import division
-
 """Copyright (c) 2010 by California Institute of Technology
 All rights reserved.
 
diff --git a/doc/pvtol-nested.rst b/doc/pvtol-nested.rst
@@ -17,8 +17,5 @@ Code
 Notes
 .....
 
-1. Importing `print_function` from `__future__` in line 11 is only
-required if using Python 2.7.
-
-2. The environment variable `PYCONTROL_TEST_EXAMPLES` is used for
+1. The environment variable `PYCONTROL_TEST_EXAMPLES` is used for
 testing to turn off plotting of the outputs.
diff --git a/examples/check-controllability-and-observability.py b/examples/check-controllability-and-observability.py
@@ -4,8 +4,6 @@
 RMM, 6 Sep 2010
 """
 
-from __future__ import print_function
-
 import numpy as np  # Load the scipy functions
 from control.matlab import *  # Load the controls systems library
 
diff --git a/examples/pvtol-nested.py b/examples/pvtol-nested.py
@@ -8,8 +8,6 @@
 # package.
 #
 
-from __future__ import print_function
-
 import os
 import matplotlib.pyplot as plt  # MATLAB plotting functions
 from control.matlab import *    # MATLAB-like functions
@@ -30,7 +28,7 @@
 # Inner loop control design
 #
 # This is the controller for the pitch dynamics.  Goal is to have
-# fast response for the pitch dynamics so that we can use this as a 
+# fast response for the pitch dynamics so that we can use this as a
 # control for the lateral dynamics
 #
 
@@ -40,7 +38,7 @@
 Li = Pi*Ci
 
 # Bode plot for the open loop process
-plt.figure(1) 
+plt.figure(1)
 bode(Pi)
 
 # Bode plot for the loop transfer function, with margins
@@ -137,7 +135,7 @@
 # Add a box in the region we are going to expand
 plt.plot([-2, -2, 1, 1, -2], [-4, 4, 4, -4, -4], 'r-')
 
-# Expanded region  
+# Expanded region
 plt.figure(8)
 plt.clf()
 nyquist(L)
diff --git a/examples/tfvis.py b/examples/tfvis.py
@@ -1,8 +1,5 @@
 #!/usr/bin/python
 # needs pmw (in pypi, conda-forge)
-# For Python 2, needs future (in conda pypi and "default")
-
-from __future__ import print_function
 
 """ Simple GUI application for visualizing how the poles/zeros of the transfer
 function effects the bode, nyquist and step response of a SISO system """
@@ -20,7 +17,7 @@
    notice, this list of conditions and the following disclaimer in the
    documentation and/or other materials provided with the distribution.
 
-3. Neither the name of the project author nor the names of its 
+3. Neither the name of the project author nor the names of its
    contributors may be used to endorse or promote products derived
    from this software without specific prior written permission.
 
@@ -146,7 +143,7 @@ def set_poles(self, poles):
         self.denominator = make_poly(poles)
         self.denominator_widget.setentry(
             ' '.join([format(i,'.3g') for i in self.denominator]))
-                  
+
     def set_zeros(self, zeros):
         """ Set the zeros to the new positions"""
         self.numerator = make_poly(zeros)
@@ -208,7 +205,7 @@ def __init__(self, parent):
         self.canvas_step.get_tk_widget().grid(row=1, column=0,
                                               padx=0, pady=0)
 
-        self.canvas_nyquist = FigureCanvasTkAgg(self.f_nyquist, 
+        self.canvas_nyquist = FigureCanvasTkAgg(self.f_nyquist,
                                                 master=self.figure)
         self.canvas_nyquist.draw()
         self.canvas_nyquist.get_tk_widget().grid(row=1, column=1,
@@ -221,7 +218,7 @@ def __init__(self, parent):
         self.canvas_pzmap.mpl_connect('motion_notify_event',
                                       self.mouse_move)
 
-        self.apply()    
+        self.apply()
 
     def button_press(self, event):
         """ Handle button presses, detect if we are going to move
@@ -276,12 +273,12 @@ def button_release(self, event):
             self.zeros = tfcn.zero()
             self.poles = tfcn.pole()
             self.sys = tfcn
-            self.redraw()  
+            self.redraw()
 
     def mouse_move(self, event):
         """ Handle mouse movement, redraw pzmap while drag/dropping """
         if (self.move_zero != None and
-            event.xdata != None and 
+            event.xdata != None and
             event.ydata != None):
 
             if (self.index1 == self.index2):
@@ -320,7 +317,7 @@ def apply(self):
             self.zeros = tfcn.zero()
             self.poles = tfcn.pole()
             self.sys = tfcn
-            self.redraw()    
+            self.redraw()
 
     def draw_pz(self, tfcn):
         """Draw pzmap"""
@@ -338,7 +335,7 @@ def draw_pz(self, tfcn):
     def redraw(self):
         """ Redraw all diagrams """
         self.draw_pz(self.sys)
-        
+
         self.f_bode.clf()
         plt.figure(self.f_bode.number)
         control.matlab.bode(self.sys, logspace(-2, 2, 1000))
@@ -376,7 +373,7 @@ def handler():
     # Launch a GUI for the Analysis module
     root = tkinter.Tk()
     root.protocol("WM_DELETE_WINDOW", handler)
-    Pmw.initialise(root)    
+    Pmw.initialise(root)
     root.title('Analysis of Linear Systems')
     Analysis(root)
     root.mainloop()

Original file line number	Diff line number	Diff line change
`@@ -42,7 +42,6 @@`
`42`	`42`	`#`
`43`	`43`	`# $Id$`
`44`	`44`
`45`		`-from __future__ import division`
`46`	`45`
`47`	`46`	`__all__ = ['pade']`
`48`	`47`
Original file line number	Diff line number	Diff line change
`@@ -40,9 +40,6 @@`
`40`	`40`	`#`
`41`	`41`	`# $Id$`
`42`	`42`
`43`		`-# Python 3 compatibility`
`44`		`-from __future__ import print_function`
`45`		`-`
`46`	`43`	`# External packages and modules`
`47`	`44`	`import numpy as np`
`48`	`45`	`import warnings`