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Merged
murrayrm merged 3 commits into from
Jul 11, 2020
Merged

implement __repr__ for tf, ss, and frd #416

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6b69ad4
implement __repr__ for tf, ss, and frd
repagh Jun 9, 2020
6a200db
use np.matmul for compatibility with python 2.7
repagh Jun 9, 2020
9a7c94e
Merge branch 'master' into implement_repr
murrayrm Jul 11, 2020
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13 changes: 11 additions & 2 deletions control/frdata.py
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Original file line number Diff line number Diff line change
Expand Up @@ -161,14 +161,14 @@ def __str__(self):
"""String representation of the transfer function."""

mimo = self.inputs > 1 or self.outputs > 1
outstr = ['frequency response data ']
outstr = ['Frequency response data']

mt, pt, wt = self.freqresp(self.omega)
for i in range(self.inputs):
for j in range(self.outputs):
if mimo:
outstr.append("Input %i to output %i:" % (i + 1, j + 1))
outstr.append('Freq [rad/s] Response ')
outstr.append('Freq [rad/s] Response')
outstr.append('------------ ---------------------')
outstr.extend(
['%12.3f %10.4g%+10.4gj' % (w, m, p)
Expand All @@ -177,6 +177,15 @@ def __str__(self):

return '\n'.join(outstr)

def __repr__(self):
"""Loadable string representation,

limited for number of data points.
"""
return "FrequencyResponseData({d}, {w}{smooth})".format(
d=repr(self.fresp), w=repr(self.omega),
smooth=(self.ifunc and ", smooth=True") or "")

def __neg__(self):
"""Negate a transfer function."""

Expand Down
10 changes: 8 additions & 2 deletions control/statesp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -283,8 +283,14 @@ def __str__(self):
string += "\ndt = " + self.dt.__str__() + "\n"
return string

# represent as string, makes display work for IPython
__repr__ = __str__
# represent to implement a re-loadable version
# TODO: remove the conversion to array when matrix is no longer used
def __repr__(self):
"""Print state-space system in loadable form."""
return "StateSpace({A}, {B}, {C}, {D}{dt})".format(
A=asarray(self.A).__repr__(), B=asarray(self.B).__repr__(),
C=asarray(self.C).__repr__(), D=asarray(self.D).__repr__(),
dt=(isdtime(self, strict=True) and ", {}".format(self.dt)) or '')

# Negation of a system
def __neg__(self):
Expand Down
54 changes: 52 additions & 2 deletions control/tests/frd_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@
import control as ct
from control.statesp import StateSpace
from control.xferfcn import TransferFunction
from control.frdata import FRD, _convertToFRD
from control.frdata import FRD, _convertToFRD, FrequencyResponseData
from control import bdalg
from control import freqplot
from control.exception import slycot_check
Expand Down Expand Up @@ -414,6 +414,56 @@ def test_evalfr_deprecated(self):
# Make sure that we get a pending deprecation warning
self.assertRaises(PendingDeprecationWarning, frd_tf.evalfr, 1.)


def test_repr_str(self):
# repr printing
array = np.array
sys0 = FrequencyResponseData([1.0, 0.9+0.1j, 0.1+2j, 0.05+3j],
[0.1, 1.0, 10.0, 100.0])
sys1 = FrequencyResponseData(sys0.fresp, sys0.omega, smooth=True)
ref0 = "FrequencyResponseData(" \
"array([[[1. +0.j , 0.9 +0.1j, 0.1 +2.j , 0.05+3.j ]]])," \
" array([ 0.1, 1. , 10. , 100. ]))"
ref1 = ref0[:-1] + ", smooth=True)"
sysm = FrequencyResponseData(
np.matmul(array([[1],[2]]), sys0.fresp), sys0.omega)

self.assertEqual(repr(sys0), ref0)
self.assertEqual(repr(sys1), ref1)
sys0r = eval(repr(sys0))
np.testing.assert_array_almost_equal(sys0r.fresp, sys0.fresp)
np.testing.assert_array_almost_equal(sys0r.omega, sys0.omega)
sys1r = eval(repr(sys1))
np.testing.assert_array_almost_equal(sys1r.fresp, sys1.fresp)
np.testing.assert_array_almost_equal(sys1r.omega, sys1.omega)
assert(sys1.ifunc is not None)

refs = """Frequency response data
Freq [rad/s] Response
------------ ---------------------
0.100 1 +0j
1.000 0.9 +0.1j
10.000 0.1 +2j
100.000 0.05 +3j"""
self.assertEqual(str(sys0), refs)
self.assertEqual(str(sys1), refs)

# print multi-input system
refm = """Frequency response data
Input 1 to output 1:
Freq [rad/s] Response
------------ ---------------------
0.100 1 +0j
1.000 0.9 +0.1j
10.000 0.1 +2j
100.000 0.05 +3j
Input 2 to output 1:
Freq [rad/s] Response
------------ ---------------------
0.100 2 +0j
1.000 1.8 +0.2j
10.000 0.2 +4j
100.000 0.1 +6j"""
self.assertEqual(str(sysm), refm)

if __name__ == "__main__":
unittest.main()
20 changes: 20 additions & 0 deletions control/tests/statesp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -519,6 +519,25 @@ def test_lft(self):
np.testing.assert_allclose(np.array(pk.C).reshape(-1), Cmatlab)
np.testing.assert_allclose(np.array(pk.D).reshape(-1), Dmatlab)

def test_repr(self):
ref322 = """StateSpace(array([[-3., 4., 2.],
[-1., -3., 0.],
[ 2., 5., 3.]]), array([[ 1., 4.],
[-3., -3.],
[-2., 1.]]), array([[ 4., 2., -3.],
[ 1., 4., 3.]]), array([[-2., 4.],
[ 0., 1.]]){dt})"""
self.assertEqual(repr(self.sys322), ref322.format(dt=''))
sysd = StateSpace(self.sys322.A, self.sys322.B,
self.sys322.C, self.sys322.D, 0.4)
self.assertEqual(repr(sysd), ref322.format(dt=", 0.4"))
array = np.array
sysd2 = eval(repr(sysd))
np.testing.assert_allclose(sysd.A, sysd2.A)
np.testing.assert_allclose(sysd.B, sysd2.B)
np.testing.assert_allclose(sysd.C, sysd2.C)
np.testing.assert_allclose(sysd.D, sysd2.D)

def test_str(self):
"""Test that printing the system works"""
tsys = self.sys322
Expand Down Expand Up @@ -653,5 +672,6 @@ def test_sample_system_prewarping(self):
evalfr(plant_d_warped, np.exp(wwarp*1j*Ts)),
decimal=4)


if __name__ == "__main__":
unittest.main()
41 changes: 41 additions & 0 deletions control/tests/xferfcn_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -872,6 +872,46 @@ def test_latex_repr(self):
r'+ 2.3 ' + expmul + ' 10^{-45}'
r'}' + suffix + '$$')
self.assertEqual(H._repr_latex_(), ref)

def test_repr(self):
"""Test __repr__ printout."""
Hc = TransferFunction([-1., 4.], [1., 3., 5.])
Hd = TransferFunction([2., 3., 0.], [1., -3., 4., 0], 2.0)
Hcm = TransferFunction(
[ [[0, 1], [2, 3]], [[4, 5], [6, 7]] ],
[ [[6, 7], [4, 5]], [[2, 3], [0, 1]] ])
Hdm = TransferFunction(
[ [[0, 1], [2, 3]], [[4, 5], [6, 7]] ],
[ [[6, 7], [4, 5]], [[2, 3], [0, 1]] ], 0.5)

refs = [
"TransferFunction(array([-1., 4.]), array([1., 3., 5.]))",
"TransferFunction(array([2., 3., 0.]),"
" array([ 1., -3., 4., 0.]), 2.0)",
"TransferFunction([[array([1]), array([2, 3])],"
" [array([4, 5]), array([6, 7])]],"
" [[array([6, 7]), array([4, 5])],"
" [array([2, 3]), array([1])]])",
"TransferFunction([[array([1]), array([2, 3])],"
" [array([4, 5]), array([6, 7])]],"
" [[array([6, 7]), array([4, 5])],"
" [array([2, 3]), array([1])]], 0.5)" ]
self.assertEqual(repr(Hc), refs[0])
self.assertEqual(repr(Hd), refs[1])
self.assertEqual(repr(Hcm), refs[2])
self.assertEqual(repr(Hdm), refs[3])

# and reading back
array = np.array
for H in (Hc, Hd, Hcm, Hdm):
H2 = eval(H.__repr__())
for p in range(len(H.num)):
for m in range(len(H.num[0])):
np.testing.assert_array_almost_equal(
H.num[p][m], H2.num[p][m])
np.testing.assert_array_almost_equal(
H.den[p][m], H2.den[p][m])
self.assertEqual(H.dt, H2.dt)

def test_sample_system_prewarping(self):
"""test that prewarping works when converting from cont to discrete time system"""
Expand All @@ -893,5 +933,6 @@ def test_sample_system_prewarping(self):
evalfr(plant_d_warped, np.exp(wwarp*1j*Ts)),
decimal=4)


if __name__ == "__main__":
unittest.main()
13 changes: 11 additions & 2 deletions control/xferfcn.py
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Original file line number Diff line number Diff line change
Expand Up @@ -284,8 +284,17 @@ def __str__(self, var=None):

return outstr

# represent as string, makes display work for IPython
__repr__ = __str__
# represent to implement a re-loadable version
def __repr__(self):
"""Print transfer function in loadable form"""
if self.issiso():
return "TransferFunction({num}, {den}{dt})".format(
num=self.num[0][0].__repr__(), den=self.den[0][0].__repr__(),
dt=(isdtime(self, strict=True) and ', {}'.format(self.dt)) or '')
else:
return "TransferFunction({num}, {den}{dt})".format(
num=self.num.__repr__(), den=self.den.__repr__(),
dt=(isdtime(self, strict=True) and ', {}'.format(self.dt)) or '')

def _repr_latex_(self, var=None):
"""LaTeX representation of transfer function, for Jupyter notebook"""
Expand Down