replace np.dot with @ matmul operator where applicable in tests

bnavigator · bnavigator · commit de8596985284 · 2021-12-02T19:07:53.000+01:00
diff --git a/control/tests/canonical_test.py b/control/tests/canonical_test.py
@@ -384,9 +384,8 @@ def test_modal_form(A_true, B_true, C_true, D_true):
     # Make sure Hankel coefficients are OK
     for i in range(A.shape[0]):
         np.testing.assert_almost_equal(
-            np.dot(np.dot(C_true, np.linalg.matrix_power(A_true, i)),
-                   B_true),
-            np.dot(np.dot(C, np.linalg.matrix_power(A, i)), B))
+            C_true @ np.linalg.matrix_power(A_true, i) @  B_true,
+            C @ np.linalg.matrix_power(A, i) @ B)
 
 
 @slycotonly
diff --git a/control/tests/discrete_test.py b/control/tests/discrete_test.py
@@ -416,7 +416,7 @@ def test_sample_ss(self, tsys):
         for sys in (sys1, sys2):
             for h in (0.1, 0.5, 1, 2):
                 Ad = I + h * sys.A
-                Bd = h * sys.B + 0.5 * h**2 * np.dot(sys.A, sys.B)
+                Bd = h * sys.B + 0.5 * h**2 * sys.A @ sys.B
                 sysd = sample_system(sys, h, method='zoh')
                 np.testing.assert_array_almost_equal(sysd.A, Ad)
                 np.testing.assert_array_almost_equal(sysd.B, Bd)
diff --git a/control/tests/iosys_test.py b/control/tests/iosys_test.py
@@ -56,7 +56,7 @@ def test_linear_iosys(self, tsys):
         for x, u in (([0, 0], 0), ([1, 0], 0), ([0, 1], 0), ([0, 0], 1)):
             np.testing.assert_array_almost_equal(
                 np.reshape(iosys._rhs(0, x, u), (-1, 1)),
-                np.dot(linsys.A, np.reshape(x, (-1, 1))) + np.dot(linsys.B, u))
+                linsys.A @ np.reshape(x, (-1, 1)) + linsys.B * u)
 
         # Make sure that simulations also line up
         T, U, X0 = tsys.T, tsys.U, tsys.X0
@@ -152,11 +152,13 @@ def test_nonlinear_iosys(self, tsys):
 
         # Create a nonlinear system with the same dynamics
         nlupd = lambda t, x, u, params: \
-            np.reshape(np.dot(linsys.A, np.reshape(x, (-1, 1)))
-                       + np.dot(linsys.B, u), (-1,))
+            np.reshape(linsys.A @ np.reshape(x, (-1, 1))
+                       + linsys.B @ np.reshape(u, (-1, 1)),
+                       (-1,))
         nlout = lambda t, x, u, params: \
-            np.reshape(np.dot(linsys.C, np.reshape(x, (-1, 1)))
-                       + np.dot(linsys.D, u), (-1,))
+            np.reshape(linsys.C @ np.reshape(x, (-1, 1))
+                       + linsys.D @ np.reshape(u, (-1, 1)),
+                       (-1,))
         nlsys = ios.NonlinearIOSystem(nlupd, nlout, inputs=1, outputs=1)
 
         # Make sure that simulations also line up
@@ -905,12 +907,12 @@ def test_params(self, tsys):
     def test_named_signals(self, tsys):
         sys1 = ios.NonlinearIOSystem(
             updfcn = lambda t, x, u, params: np.array(
-                np.dot(tsys.mimo_linsys1.A, np.reshape(x, (-1, 1))) \
-                + np.dot(tsys.mimo_linsys1.B, np.reshape(u, (-1, 1)))
+                tsys.mimo_linsys1.A @ np.reshape(x, (-1, 1)) \
+                + tsys.mimo_linsys1.B @ np.reshape(u, (-1, 1))
             ).reshape(-1,),
             outfcn = lambda t, x, u, params: np.array(
-                np.dot(tsys.mimo_linsys1.C, np.reshape(x, (-1, 1))) \
-                + np.dot(tsys.mimo_linsys1.D, np.reshape(u, (-1, 1)))
+                tsys.mimo_linsys1.C @ np.reshape(x, (-1, 1)) \
+                + tsys.mimo_linsys1.D @ np.reshape(u, (-1, 1))
             ).reshape(-1,),
             inputs = ['u[0]', 'u[1]'],
             outputs = ['y[0]', 'y[1]'],
@@ -1138,8 +1140,8 @@ def test_named_signals_linearize_inconsistent(self, tsys):
         def updfcn(t, x, u, params):
             """2 inputs, 2 states"""
             return np.array(
-                np.dot(tsys.mimo_linsys1.A, np.reshape(x, (-1, 1)))
-                + np.dot(tsys.mimo_linsys1.B, np.reshape(u, (-1, 1)))
+                tsys.mimo_linsys1.A @ np.reshape(x, (-1, 1))
+                + tsys.mimo_linsys1.B @ np.reshape(u, (-1, 1))
                 ).reshape(-1,)
 
         def outfcn(t, x, u, params):
@@ -1413,11 +1415,13 @@ def test_linear_interconnection():
         outputs = ('y[0]', 'y[1]'), name = 'sys2')
     nl_sys2 = ios.NonlinearIOSystem(
         lambda t, x, u, params: np.array(
-            np.dot(ss_sys2.A, np.reshape(x, (-1, 1))) \
-            + np.dot(ss_sys2.B, np.reshape(u, (-1, 1)))).reshape((-1,)),
+            ss_sys2.A @ np.reshape(x, (-1, 1)) \
+            + ss_sys2.B @ np.reshape(u, (-1, 1))
+            ).reshape((-1,)),
         lambda t, x, u, params: np.array(
-            np.dot(ss_sys2.C, np.reshape(x, (-1, 1))) \
-            + np.dot(ss_sys2.D, np.reshape(u, (-1, 1)))).reshape((-1,)),
+            ss_sys2.C @ np.reshape(x, (-1, 1)) \
+            + ss_sys2.D @ np.reshape(u, (-1, 1))
+            ).reshape((-1,)),
         states = 2,
         inputs = ('u[0]', 'u[1]'),
         outputs = ('y[0]', 'y[1]'),
diff --git a/control/tests/modelsimp_test.py b/control/tests/modelsimp_test.py
@@ -95,9 +95,9 @@ def testMarkovResults(self, k, m, n):
         Hd = c2d(Hc, Ts, 'zoh')
 
         # Compute the Markov parameters from state space
-        Mtrue = np.hstack([Hd.D] + [np.dot(
-            Hd.C, np.dot(np.linalg.matrix_power(Hd.A, i),
-                         Hd.B)) for i in range(m-1)])
+        Mtrue = np.hstack([Hd.D] + [
+            Hd.C @ np.linalg.matrix_power(Hd.A, i) @ Hd.B
+            for i in range(m-1)])
 
         # Generate input/output data
         T = np.array(range(n)) * Ts
diff --git a/control/tests/statesp_test.py b/control/tests/statesp_test.py
@@ -592,12 +592,12 @@ def test_matrix_static_gain(self):
         g3 = StateSpace([], [], [], d2.T)
 
         h1 = g1 * g2
-        np.testing.assert_allclose(np.dot(d1, d2), h1.D)
+        np.testing.assert_allclose(d1 @ d2, h1.D)
         h2 = g1 + g3
         np.testing.assert_allclose(d1 + d2.T, h2.D)
         h3 = g1.feedback(g2)
         np.testing.assert_array_almost_equal(
-            solve(np.eye(2) + np.dot(d1, d2), d1), h3.D)
+            solve(np.eye(2) + d1 @ d2, d1), h3.D)
         h4 = g1.append(g2)
         np.testing.assert_allclose(block_diag(d1, d2), h4.D)
 
diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
@@ -1010,9 +1010,7 @@ def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape1, shape2):
 
         # Generate the time and input vectors
         tvec = np.linspace(0, 1, 8)
-        uvec = np.dot(
-            np.ones((sys.ninputs, 1)),
-            np.reshape(np.sin(tvec), (1, 8)))
+        uvec = np.ones((sys.ninputs, 1)) @ np.reshape(np.sin(tvec), (1, 8))
 
         #
         # Pass squeeze argument and make sure the shape is correct
@@ -1144,9 +1142,7 @@ def test_squeeze_0_8_4(self, nstate, nout, ninp, squeeze, shape):
         # Generate system, time, and input vectors
         sys = ct.rss(nstate, nout, ninp, strictly_proper=True)
         tvec = np.linspace(0, 1, 8)
-        uvec = np.dot(
-            np.ones((sys.ninputs, 1)),
-            np.reshape(np.sin(tvec), (1, 8)))
+        uvec =np.ones((sys.ninputs, 1)) @ np.reshape(np.sin(tvec), (1, 8))
 
         _, yvec = ct.initial_response(sys, tvec, 1, squeeze=squeeze)
         assert yvec.shape == shape
