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sawyerbfullersawyerbfuller
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bdalg.connect: new tests that should pass, stylistic changes
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+58
-48
lines changed

2 files changed

+58
-48
lines changed

‎control/bdalg.py‎

Lines changed: 16 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -303,10 +303,10 @@ def connect(sys, Q, inputv, outputv):
303303
System to be connected
304304
Q : 2D array
305305
Interconnection matrix. First column gives the input to be connected.
306-
The second column gives the index of an output that is to be fed into
307-
that input. Each additional column gives the index of an additional
306+
The second column gives the index of an output that is to be fed into
307+
that input. Each additional column gives the index of an additional
308308
input that may be optionally added to that input. Negative
309-
values mean the feedback is negative. A zero value is ignored. Inputs
309+
values mean the feedback is negative. A zero value is ignored. Inputs
310310
and outputs are indexed starting at 1 to communicate sign information.
311311
inputv : 1D array
312312
list of final external inputs, indexed starting at 1
@@ -330,22 +330,22 @@ def connect(sys, Q, inputv, outputv):
330330
inputv, outputv, Q = np.asarray(inputv), np.asarray(outputv), np.asarray(Q)
331331
# check indices
332332
index_errors = (inputv - 1 > sys.inputs) | (inputv < 1)
333-
if np.any(index_errors):
334-
raise IndexError(
335-
"inputv index %s out of bounds"%inputv[np.where(index_errors)])
333+
if np.any(index_errors):
334+
raise IndexError(
335+
"inputv index %s out of bounds" % inputv[np.where(index_errors)])
336336
index_errors = (outputv - 1 > sys.outputs) | (outputv < 1)
337-
if np.any(index_errors):
338-
raise IndexError(
339-
"outputv index %s out of bounds"%outputv[np.where(index_errors)])
337+
if np.any(index_errors):
338+
raise IndexError(
339+
"outputv index %s out of bounds" % outputv[np.where(index_errors)])
340340
index_errors = (Q[:,0:1] - 1 > sys.inputs) | (Q[:,0:1] < 1)
341-
if np.any(index_errors):
342-
raise IndexError(
343-
"Q input index %s out of bounds"%Q[np.where(index_errors)])
341+
if np.any(index_errors):
342+
raise IndexError(
343+
"Q input index %s out of bounds" % Q[np.where(index_errors)])
344344
index_errors = (np.abs(Q[:,1:]) - 1 > sys.outputs)
345-
if np.any(index_errors):
346-
raise IndexError(
347-
"Q output index %s out of bounds"%Q[np.where(index_errors)])
348-
345+
if np.any(index_errors):
346+
raise IndexError(
347+
"Q output index %s out of bounds" % Q[np.where(index_errors)])
348+
349349
# first connect
350350
K = np.zeros((sys.inputs, sys.outputs))
351351
for r in np.array(Q).astype(int):

‎control/tests/bdalg_test.py‎

Lines changed: 42 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -194,50 +194,50 @@ def testLists(self):
194194
sys1_2 = ctrl.series(sys1, sys2)
195195
np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4., -2.])
196196
np.testing.assert_array_almost_equal(sort(zero(sys1_2)), [-3., -1.])
197-
197+
198198
sys1_3 = ctrl.series(sys1, sys2, sys3);
199199
np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
200200
[-6., -4., -2.])
201-
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
201+
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
202202
[-5., -3., -1.])
203-
203+
204204
sys1_4 = ctrl.series(sys1, sys2, sys3, sys4);
205205
np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
206206
[-8., -6., -4., -2.])
207207
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
208208
[-7., -5., -3., -1.])
209-
209+
210210
sys1_5 = ctrl.series(sys1, sys2, sys3, sys4, sys5);
211211
np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
212212
[-8., -6., -4., -2., -0.])
213-
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
213+
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
214214
[-9., -7., -5., -3., -1.])
215215

216-
# Parallel
216+
# Parallel
217217
sys1_2 = ctrl.parallel(sys1, sys2)
218218
np.testing.assert_array_almost_equal(sort(pole(sys1_2)), [-4., -2.])
219219
np.testing.assert_array_almost_equal(sort(zero(sys1_2)),
220220
sort(zero(sys1 + sys2)))
221-
221+
222222
sys1_3 = ctrl.parallel(sys1, sys2, sys3);
223223
np.testing.assert_array_almost_equal(sort(pole(sys1_3)),
224224
[-6., -4., -2.])
225-
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
225+
np.testing.assert_array_almost_equal(sort(zero(sys1_3)),
226226
sort(zero(sys1 + sys2 + sys3)))
227-
227+
228228
sys1_4 = ctrl.parallel(sys1, sys2, sys3, sys4);
229229
np.testing.assert_array_almost_equal(sort(pole(sys1_4)),
230230
[-8., -6., -4., -2.])
231-
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
232-
sort(zero(sys1 + sys2 +
231+
np.testing.assert_array_almost_equal(sort(zero(sys1_4)),
232+
sort(zero(sys1 + sys2 +
233233
sys3 + sys4)))
234234

235-
235+
236236
sys1_5 = ctrl.parallel(sys1, sys2, sys3, sys4, sys5);
237237
np.testing.assert_array_almost_equal(sort(pole(sys1_5)),
238238
[-8., -6., -4., -2., -0.])
239-
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
240-
sort(zero(sys1 + sys2 +
239+
np.testing.assert_array_almost_equal(sort(zero(sys1_5)),
240+
sort(zero(sys1 + sys2 +
241241
sys3 + sys4 + sys5)))
242242
def testMimoSeries(self):
243243
"""regression: bdalg.series reverses order of arguments"""
@@ -274,44 +274,54 @@ def test_feedback_args(self):
274274

275275
def testConnect(self):
276276
sys = append(self.sys2, self.sys3) # two siso systems
277-
277+
278+
# should not raise error
279+
connect(sys, [[1, 2], [2, -2]], [2], [1, 2])
280+
connect(sys, [[1, 2], [2, 0]], [2], [1, 2])
281+
connect(sys, [[1, 2, 0], [2, -2, 1]], [2], [1, 2])
282+
connect(sys, [[1, 2], [2, -2]], [2, 1], [1])
283+
sys3x3 = append(sys, self.sys3) # 3x3 mimo
284+
connect(sys3x3, [[1, 2, 0], [2, -2, 1], [3, -3, 0]], [2], [1, 2])
285+
connect(sys3x3, [[1, 2, 0], [2, -2, 1], [3, -3, 0]], [1, 2, 3], [3])
286+
connect(sys3x3, [[1, 2, 0], [2, -2, 1], [3, -3, 0]], [2, 3], [2, 1])
287+
278288
# feedback interconnection out of bounds: input too high
279-
Q = [[1, 3], [2, -2]]
280-
with self.assertRaises(IndexError) as context:
289+
Q = [[1, 3], [2, -2]]
290+
with self.assertRaises(IndexError):
281291
connect(sys, Q, [2], [1, 2])
282292
# feedback interconnection out of bounds: input too low
283-
Q = [[0, 2], [2, -2]]
284-
with self.assertRaises(IndexError) as context:
293+
Q = [[0, 2], [2, -2]]
294+
with self.assertRaises(IndexError):
285295
connect(sys, Q, [2], [1, 2])
286296

287297
# feedback interconnection out of bounds: output too high
288-
Q = [[1, 2], [2, -3]]
289-
with self.assertRaises(IndexError) as context:
298+
Q = [[1, 2], [2, -3]]
299+
with self.assertRaises(IndexError):
290300
connect(sys, Q, [2], [1, 2])
291-
Q = [[1, 2], [2, 4]]
292-
with self.assertRaises(IndexError) as context:
301+
Q = [[1, 2], [2, 4]]
302+
with self.assertRaises(IndexError):
293303
connect(sys, Q, [2], [1, 2])
294-
304+
295305
# input/output index testing
296306
Q = [[1, 2], [2, -2]] # OK interconnection
297-
307+
298308
# input index is out of bounds: too high
299-
with self.assertRaises(IndexError) as context:
309+
with self.assertRaises(IndexError):
300310
connect(sys, Q, [3], [1, 2])
301311
# input index is out of bounds: too low
302-
with self.assertRaises(IndexError) as context:
312+
with self.assertRaises(IndexError):
303313
connect(sys, Q, [0], [1, 2])
304-
with self.assertRaises(IndexError) as context:
314+
with self.assertRaises(IndexError):
305315
connect(sys, Q, [-2], [1, 2])
306316
# output index is out of bounds: too high
307-
with self.assertRaises(IndexError) as context:
317+
with self.assertRaises(IndexError):
308318
connect(sys, Q, [2], [1, 3])
309319
# output index is out of bounds: too low
310-
with self.assertRaises(IndexError) as context:
320+
with self.assertRaises(IndexError):
311321
connect(sys, Q, [2], [1, 0])
312-
with self.assertRaises(IndexError) as context:
322+
with self.assertRaises(IndexError):
313323
connect(sys, Q, [2], [1, -1])
314-
324+
315325

316326
if __name__ == "__main__":
317327
unittest.main()

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