fixed matlab compatibility bug in function definition and updated tests

kayarre · kayarre · commit 8b220f7e04fd · 2016-11-02T15:46:27.000-07:00
diff --git a/control/matlab/timeresp.py b/control/matlab/timeresp.py
@@ -118,7 +118,7 @@ def impulse(sys, T=None, input=0, output=None, return_x=False):
 
     return yout, T
 
-def initial(sys, T=None, X0=0., input=None, output=None):
+def initial(sys, T=None, X0=0., input=None, output=None, return_x=False):
     '''
     Initial condition response of a linear system
 
diff --git a/control/tests/matlab_test.py b/control/tests/matlab_test.py
@@ -161,6 +161,10 @@ def testStep(self):
         np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
         np.testing.assert_array_almost_equal(tout, t)
 
+        yout, tout, xout = step(sys, T=t, X0=0, return_x=True)
+        np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
+        np.testing.assert_array_almost_equal(tout, t)
+
         #Test MIMO system, which contains ``siso_ss1`` twice
         sys = self.mimo_ss1
         y_00, _t = step(sys, T=t, input=0, output=0)
@@ -188,6 +192,20 @@ def testImpulse(self):
             np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
             np.testing.assert_array_almost_equal(tout, t)
 
+            # Play with arguments
+            yout, tout = impulse(sys, T=t, X0=0)
+            np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
+            np.testing.assert_array_almost_equal(tout, t)
+
+            X0 = np.array([0, 0]);
+            yout, tout = impulse(sys, T=t, X0=X0)
+            np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
+            np.testing.assert_array_almost_equal(tout, t)
+
+            yout, tout, xout = impulse(sys, T=t, X0=0, return_x=True)
+            np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
+            np.testing.assert_array_almost_equal(tout, t)
+
             #Test MIMO system, which contains ``siso_ss1`` twice
             sys = self.mimo_ss1
             y_00, _t = impulse(sys, T=t, input=0, output=0)
@@ -206,6 +224,11 @@ def testInitial(self):
         np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
         np.testing.assert_array_almost_equal(tout, t)
 
+        # Play with arguments
+        yout, tout, xout = initial(sys, T=t, X0=x0, return_x=True)
+        np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
+        np.testing.assert_array_almost_equal(tout, t)
+
         #Test MIMO system, which contains ``siso_ss1`` twice
         sys = self.mimo_ss1
         x0 = np.matrix(".5; 1.; .5; 1.")
diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
@@ -87,6 +87,20 @@ def test_impulse_response(self):
         np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
         np.testing.assert_array_almost_equal(tout, t)
 
+        # Play with arguments
+        tout, yout = impulse_response(sys, T=t, X0=0)
+        np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
+        np.testing.assert_array_almost_equal(tout, t)
+
+        X0 = np.array([0, 0])
+        tout, yout = impulse_response(sys, T=t, X0=X0)
+        np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
+        np.testing.assert_array_almost_equal(tout, t)
+
+        tout, yout, xout = impulse_response(sys, T=t, X0=0, return_x=True)
+        np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
+        np.testing.assert_array_almost_equal(tout, t)
+
         # Test MIMO system, which contains ``siso_ss1`` twice
         sys = self.mimo_ss1
         _t, y_00 = impulse_response(sys, T=t, input=0, output=0)
@@ -111,6 +125,11 @@ def test_initial_response(self):
         np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
         np.testing.assert_array_almost_equal(tout, t)
 
+        # Play with arguments
+        tout, yout, xout = initial_response(sys, T=t, X0=x0, return_x=True)
+        np.testing.assert_array_almost_equal(yout, youttrue, decimal=4)
+        np.testing.assert_array_almost_equal(tout, t)
+
         # Test MIMO system, which contains ``siso_ss1`` twice
         sys = self.mimo_ss1
         x0 = np.matrix(".5; 1.; .5; 1.")
