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Commit136d6f4

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committed
add signal labels + more unit tests/coverage + docstring tweaks
1 parentce5a95c commit136d6f4

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4 files changed

+295
-19
lines changed

4 files changed

+295
-19
lines changed

‎control/iosys.py

Lines changed: 7 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1527,7 +1527,9 @@ def input_output_response(
15271527
15281528
The return value of the system can also be accessed by assigning the
15291529
function to a tuple of length 2 (time, output) or of length 3 (time,
1530-
output, state) if ``return_x`` is ``True``.
1530+
output, state) if ``return_x`` is ``True``. If the input/output
1531+
system signals are named, these names will be used as labels for the
1532+
time response.
15311533
15321534
Other parameters
15331535
----------------
@@ -1590,7 +1592,8 @@ def input_output_response(
15901592
u=U[i]iflen(U.shape)==1elseU[:,i]
15911593
y[:,i]=sys._out(T[i], [],u)
15921594
returnTimeResponseData(
1593-
T,y,None,None,issiso=sys.issiso(),
1595+
T,y,None,U,issiso=sys.issiso(),
1596+
output_labels=sys.output_index,input_labels=sys.input_index,
15941597
transpose=transpose,return_x=return_x,squeeze=squeeze)
15951598

15961599
# create X0 if not given, test if X0 has correct shape
@@ -1687,6 +1690,8 @@ def ivp_rhs(t, x):
16871690

16881691
returnTimeResponseData(
16891692
soln.t,y,soln.y,U,issiso=sys.issiso(),
1693+
output_labels=sys.output_index,input_labels=sys.input_index,
1694+
state_labels=sys.state_index,
16901695
transpose=transpose,return_x=return_x,squeeze=squeeze)
16911696

16921697

‎control/tests/timeresp_test.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1117,7 +1117,7 @@ def test_squeeze(self, fcn, nstate, nout, ninp, squeeze, shape1, shape2):
11171117
@pytest.mark.parametrize("fcn", [ct.ss,ct.tf,ct.ss2io])
11181118
deftest_squeeze_exception(self,fcn):
11191119
sys=fcn(ct.rss(2,1,1))
1120-
withpytest.raises(ValueError,match="unknown squeeze value"):
1120+
withpytest.raises(ValueError,match="Unknown squeeze value"):
11211121
step_response(sys,squeeze=1)
11221122

11231123
@pytest.mark.usefixtures("editsdefaults")

‎control/tests/trdata_test.py

Lines changed: 185 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -25,9 +25,9 @@
2525
[2,1,None],
2626
[2,1,True],
2727
[2,1,False],
28-
[2,2,None],
29-
[2,2,True],
30-
[2,2,False],
28+
[2,3,None],
29+
[2,3,True],
30+
[2,3,False],
3131
])
3232
deftest_trdata_shapes(nin,nout,squeeze):
3333
# SISO, single trace
@@ -48,6 +48,12 @@ def test_trdata_shapes(nin, nout, squeeze):
4848
assertres.x.shape== (sys.nstates,ntimes)
4949
assertres.uisNone
5050

51+
# Check dimensions of the response
52+
assertres.ntraces==0# single trace
53+
assertres.ninputs==0# no input for initial response
54+
assertres.noutputs==sys.noutputs
55+
assertres.nstates==sys.nstates
56+
5157
# Check shape of class properties
5258
ifsys.issiso():
5359
assertres.outputs.shape== (ntimes,)
@@ -78,6 +84,12 @@ def test_trdata_shapes(nin, nout, squeeze):
7884
assertres.x.shape== (sys.nstates,sys.ninputs,ntimes)
7985
assertres.u.shape== (sys.ninputs,sys.ninputs,ntimes)
8086

87+
# Check shape of class members
88+
assertres.ntraces==sys.ninputs
89+
assertres.ninputs==sys.ninputs
90+
assertres.noutputs==sys.noutputs
91+
assertres.nstates==sys.nstates
92+
8193
# Check shape of inputs and outputs
8294
ifsys.issiso()andsqueezeisnotFalse:
8395
assertres.outputs.shape== (ntimes, )
@@ -108,11 +120,19 @@ def test_trdata_shapes(nin, nout, squeeze):
108120
res=ct.forced_response(sys,T,U,X0,squeeze=squeeze)
109121
ntimes=res.time.shape[0]
110122

123+
# Check shape of class members
111124
assertlen(res.time.shape)==1
112125
assertres.y.shape== (sys.noutputs,ntimes)
113126
assertres.x.shape== (sys.nstates,ntimes)
114127
assertres.u.shape== (sys.ninputs,ntimes)
115128

129+
# Check dimensions of the response
130+
assertres.ntraces==0# single trace
131+
assertres.ninputs==sys.ninputs
132+
assertres.noutputs==sys.noutputs
133+
assertres.nstates==sys.nstates
134+
135+
# Check shape of inputs and outputs
116136
ifsys.issiso()andsqueezeisnotFalse:
117137
assertres.outputs.shape== (ntimes,)
118138
assertres.states.shape== (sys.nstates,ntimes)
@@ -176,6 +196,167 @@ def test_response_copy():
176196
withpytest.raises(ValueError,match="not enough"):
177197
t,y,x=response_mimo
178198

199+
# Labels
200+
assertresponse_mimo.output_labelsisNone
201+
assertresponse_mimo.state_labelsisNone
202+
assertresponse_mimo.input_labelsisNone
203+
response=response_mimo(
204+
output_labels=['y1','y2'],input_labels='u',
205+
state_labels=["x[%d]"%iforiinrange(4)])
206+
assertresponse.output_labels== ['y1','y2']
207+
assertresponse.state_labels== ['x[0]','x[1]','x[2]','x[3]']
208+
assertresponse.input_labels== ['u']
209+
179210
# Unknown keyword
180-
withpytest.raises(ValueError,match="unknown"):
211+
withpytest.raises(ValueError,match="Unknown parameter(s)*"):
181212
response_bad_kw=response_mimo(input=0)
213+
214+
215+
deftest_trdata_labels():
216+
# Create an I/O system with labels
217+
sys=ct.rss(4,3,2)
218+
iosys=ct.LinearIOSystem(sys)
219+
220+
T=np.linspace(1,10,10)
221+
U= [np.sin(T),np.cos(T)]
222+
223+
# Create a response
224+
response=ct.input_output_response(iosys,T,U)
225+
226+
# Make sure the labels got created
227+
np.testing.assert_equal(
228+
response.output_labels, ["y[%d]"%iforiinrange(sys.noutputs)])
229+
np.testing.assert_equal(
230+
response.state_labels, ["x[%d]"%iforiinrange(sys.nstates)])
231+
np.testing.assert_equal(
232+
response.input_labels, ["u[%d]"%iforiinrange(sys.ninputs)])
233+
234+
235+
deftest_trdata_multitrace():
236+
#
237+
# Output signal processing
238+
#
239+
240+
# Proper call of multi-trace data w/ ambiguous 2D output
241+
response=ct.TimeResponseData(
242+
np.zeros(5),np.ones((2,5)),np.zeros((3,2,5)),
243+
np.ones((4,2,5)),multi_trace=True)
244+
assertresponse.ntraces==2
245+
assertresponse.noutputs==1
246+
assertresponse.nstates==3
247+
assertresponse.ninputs==4
248+
249+
# Proper call of single trace w/ ambiguous 2D output
250+
response=ct.TimeResponseData(
251+
np.zeros(5),np.ones((2,5)),np.zeros((3,5)),
252+
np.ones((4,5)),multi_trace=False)
253+
assertresponse.ntraces==0
254+
assertresponse.noutputs==2
255+
assertresponse.nstates==3
256+
assertresponse.ninputs==4
257+
258+
# Proper call of multi-trace data w/ ambiguous 1D output
259+
response=ct.TimeResponseData(
260+
np.zeros(5),np.ones(5),np.zeros((3,5)),
261+
np.ones((4,5)),multi_trace=False)
262+
assertresponse.ntraces==0
263+
assertresponse.noutputs==1
264+
assertresponse.nstates==3
265+
assertresponse.ninputs==4
266+
assertresponse.y.shape== (1,5)# Make sure reshape occured
267+
268+
# Output vector not the right shape
269+
withpytest.raises(ValueError,match="Output vector is the wrong shape"):
270+
response=ct.TimeResponseData(
271+
np.zeros(5),np.ones((1,2,3,5)),None,None)
272+
273+
# Inconsistent output vector: different number of time points
274+
withpytest.raises(ValueError,match="Output vector does not match time"):
275+
response=ct.TimeResponseData(
276+
np.zeros(5),np.ones(6),np.zeros(5),np.zeros(5))
277+
278+
#
279+
# State signal processing
280+
#
281+
282+
# For multi-trace, state must be 3D
283+
withpytest.raises(ValueError,match="State vector is the wrong shape"):
284+
response=ct.TimeResponseData(
285+
np.zeros(5),np.ones((1,5)),np.zeros((3,5)),multi_trace=True)
286+
287+
# If not multi-trace, state must be 2D
288+
withpytest.raises(ValueError,match="State vector is the wrong shape"):
289+
response=ct.TimeResponseData(
290+
np.zeros(5),np.ones(5),np.zeros((3,1,5)),multi_trace=False)
291+
292+
# State vector in the wrong shape
293+
withpytest.raises(ValueError,match="State vector is the wrong shape"):
294+
response=ct.TimeResponseData(
295+
np.zeros(5),np.ones((1,2,5)),np.zeros((2,1,5)))
296+
297+
# Inconsistent state vector: different number of time points
298+
withpytest.raises(ValueError,match="State vector does not match time"):
299+
response=ct.TimeResponseData(
300+
np.zeros(5),np.ones(5),np.zeros((1,6)),np.zeros(5))
301+
302+
#
303+
# Input signal processing
304+
#
305+
306+
# Proper call of multi-trace data with 2D input
307+
response=ct.TimeResponseData(
308+
np.zeros(5),np.ones((2,5)),np.zeros((3,2,5)),
309+
np.ones((2,5)),multi_trace=True)
310+
assertresponse.ntraces==2
311+
assertresponse.noutputs==1
312+
assertresponse.nstates==3
313+
assertresponse.ninputs==1
314+
315+
# Input vector in the wrong shape
316+
withpytest.raises(ValueError,match="Input vector is the wrong shape"):
317+
response=ct.TimeResponseData(
318+
np.zeros(5),np.ones((1,2,5)),None,np.zeros((2,1,5)))
319+
320+
# Inconsistent input vector: different number of time points
321+
withpytest.raises(ValueError,match="Input vector does not match time"):
322+
response=ct.TimeResponseData(
323+
np.zeros(5),np.ones(5),np.zeros((1,5)),np.zeros(6))
324+
325+
326+
deftest_trdata_exceptions():
327+
# Incorrect dimension for time vector
328+
withpytest.raises(ValueError,match="Time vector must be 1D"):
329+
ct.TimeResponseData(np.zeros((2,2)),np.zeros(2),None)
330+
331+
# Infer SISO system from inputs and outputs
332+
response=ct.TimeResponseData(
333+
np.zeros(5),np.ones(5),None,np.ones(5))
334+
assertresponse.issiso
335+
336+
response=ct.TimeResponseData(
337+
np.zeros(5),np.ones((1,5)),None,np.ones((1,5)))
338+
assertresponse.issiso
339+
340+
response=ct.TimeResponseData(
341+
np.zeros(5),np.ones((1,2,5)),None,np.ones((1,2,5)))
342+
assertresponse.issiso
343+
344+
# Not enough input to infer whether SISO
345+
withpytest.raises(ValueError,match="Can't determine if system is SISO"):
346+
response=ct.TimeResponseData(
347+
np.zeros(5),np.ones((1,2,5)),np.ones((4,2,5)),None)
348+
349+
# Not enough input to infer whether SISO
350+
withpytest.raises(ValueError,match="Keyword `issiso` does not match"):
351+
response=ct.TimeResponseData(
352+
np.zeros(5),np.ones((2,5)),None,np.ones((1,5)),issiso=True)
353+
354+
# Unknown squeeze keyword value
355+
withpytest.raises(ValueError,match="Unknown squeeze value"):
356+
response=ct.TimeResponseData(
357+
np.zeros(5),np.ones(5),None,np.ones(5),squeeze=1)
358+
359+
# Legacy interface index error
360+
response[0],response[1],response[2]
361+
withpytest.raises(IndexError):
362+
response[3]

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