move optimal_bench.py to steering_bench.py + small fixes

murrayrm · murrayrm · commit e14d7b37ae9b · 2022-11-19T08:04:49.000-08:00
diff --git a/benchmarks/README b/benchmarks/README
@@ -11,7 +11,7 @@ you can use the following command from the root directory of the repository:
 
   PYTHONPATH=`pwd` asv run --python=python
 
-You can also run benchmarks against specific commits usuing
+You can also run benchmarks against specific commits using
 
   asv run <range>
 
diff --git a/benchmarks/steering_bench.py b/benchmarks/steering_bench.py
diff --git a/control/flatsys/bezier.py b/control/flatsys/bezier.py
@@ -73,7 +73,7 @@ def eval_deriv(self, i, k, t, var=None):
             raise ValueError("Basis function index too high")
         elif k >= self.N:
             # Higher order derivatives are zero
-            return np.zeros(t.shape)
+            return 0 * t
 
         # Compute the variables used in Bezier curve formulas
         n = self.N - 1
diff --git a/control/flatsys/poly.py b/control/flatsys/poly.py
@@ -66,6 +66,6 @@ def __init__(self, N, T=1):
     # Compute the kth derivative of the ith basis function at time t
     def eval_deriv(self, i, k, t, var=None):
         """Evaluate the kth derivative of the ith basis function at time t."""
-        if (i < k): return 0;           # higher derivative than power
+        if (i < k): return 0 * t        # higher derivative than power
         return factorial(i)/factorial(i-k) * \
             np.power(t/self.T, i-k) / np.power(self.T, k)
