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Commit2016386

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get rid of deprecated scipy calls
1 parentb743fb8 commit2016386

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2 files changed

+20
-19
lines changed

2 files changed

+20
-19
lines changed

‎control/freqplot.py

Lines changed: 9 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -40,11 +40,13 @@
4040
# SUCH DAMAGE.
4141
#
4242
# $Id$
43+
44+
importmath
45+
4346
importmatplotlibasmpl
4447
importmatplotlib.pyplotasplt
45-
importscipyassp
4648
importnumpyasnp
47-
importmath
49+
4850
from .ctrlutilimportunwrap
4951
from .bdalgimportfeedback
5052
from .marginsimportstability_margins
@@ -184,12 +186,12 @@ def bode_plot(syslist, omega=None,
184186
ifHz:
185187
omega_limits*=2.*math.pi
186188
ifomega_num:
187-
omega=sp.logspace(np.log10(omega_limits[0]),
189+
omega=np.logspace(np.log10(omega_limits[0]),
188190
np.log10(omega_limits[1]),
189191
num=omega_num,
190192
endpoint=True)
191193
else:
192-
omega=sp.logspace(np.log10(omega_limits[0]),
194+
omega=np.logspace(np.log10(omega_limits[0]),
193195
np.log10(omega_limits[1]),
194196
endpoint=True)
195197

@@ -530,8 +532,8 @@ def nyquist_plot(syslist, omega=None, plot=True, label_freq=0,
530532
phase=np.squeeze(phase_tmp)
531533

532534
# Compute the primary curve
533-
x=sp.multiply(mag,sp.cos(phase))
534-
y=sp.multiply(mag,sp.sin(phase))
535+
x=np.multiply(mag,np.cos(phase))
536+
y=np.multiply(mag,np.sin(phase))
535537

536538
ifplot:
537539
# Plot the primary curve and mirror image
@@ -557,7 +559,7 @@ def nyquist_plot(syslist, omega=None, plot=True, label_freq=0,
557559
ind=slice(None,None,label_freq)
558560
forxpt,ypt,omegaptinzip(x[ind],y[ind],omega[ind]):
559561
# Convert to Hz
560-
f=omegapt/ (2*sp.pi)
562+
f=omegapt/ (2*np.pi)
561563

562564
# Factor out multiples of 1000 and limit the
563565
# result to the range [-8, 8].

‎control/nichols.py

Lines changed: 11 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -49,7 +49,6 @@
4949
#
5050
# $Id: freqplot.py 139 2011-03-30 16:19:59Z murrayrm $
5151

52-
importscipyassp
5352
importnumpyasnp
5453
importmatplotlib.pyplotasplt
5554
from .ctrlutilimportunwrap
@@ -102,8 +101,8 @@ def nichols_plot(sys_list, omega=None, grid=None):
102101

103102
# Convert to Nichols-plot format (phase in degrees,
104103
# and magnitude in dB)
105-
x=unwrap(sp.degrees(phase),360)
106-
y=20*sp.log10(mag)
104+
x=unwrap(np.degrees(phase),360)
105+
y=20*np.log10(mag)
107106

108107
# Generate the plot
109108
plt.plot(x,y)
@@ -183,13 +182,13 @@ def nichols_grid(cl_mags=None, cl_phases=None, line_style='dotted'):
183182
# Find the M-contours
184183
m=m_circles(cl_mags,phase_min=np.min(cl_phases),
185184
phase_max=np.max(cl_phases))
186-
m_mag=20*sp.log10(np.abs(m))
187-
m_phase=sp.mod(sp.degrees(sp.angle(m)),-360.0)# Unwrap
185+
m_mag=20*np.log10(np.abs(m))
186+
m_phase=np.mod(np.degrees(np.angle(m)),-360.0)# Unwrap
188187

189188
# Find the N-contours
190189
n=n_circles(cl_phases,mag_min=np.min(cl_mags),mag_max=np.max(cl_mags))
191-
n_mag=20*sp.log10(np.abs(n))
192-
n_phase=sp.mod(sp.degrees(sp.angle(n)),-360.0)# Unwrap
190+
n_mag=20*np.log10(np.abs(n))
191+
n_phase=np.mod(np.degrees(np.angle(n)),-360.0)# Unwrap
193192

194193
# Plot the contours behind other plot elements.
195194
# The "phase offset" is used to produce copies of the chart that cover
@@ -247,7 +246,7 @@ def closed_loop_contours(Gcl_mags, Gcl_phases):
247246
# Compute the contours in Gcl-space. Since we're given closed-loop
248247
# magnitudes and phases, this is just a case of converting them into
249248
# a complex number.
250-
Gcl=Gcl_mags*sp.exp(1.j*Gcl_phases)
249+
Gcl=Gcl_mags*np.exp(1.j*Gcl_phases)
251250

252251
# Invert Gcl = Gol/(1+Gol) to map the contours into the open-loop space
253252
returnGcl/(1.0-Gcl)
@@ -274,8 +273,8 @@ def m_circles(mags, phase_min=-359.75, phase_max=-0.25):
274273
"""
275274
# Convert magnitudes and phase range into a grid suitable for
276275
# building contours
277-
phases=sp.radians(sp.linspace(phase_min,phase_max,2000))
278-
Gcl_mags,Gcl_phases=sp.meshgrid(10.0**(mags/20.0),phases)
276+
phases=np.radians(np.linspace(phase_min,phase_max,2000))
277+
Gcl_mags,Gcl_phases=np.meshgrid(10.0**(mags/20.0),phases)
279278
returnclosed_loop_contours(Gcl_mags,Gcl_phases)
280279

281280

@@ -300,8 +299,8 @@ def n_circles(phases, mag_min=-40.0, mag_max=12.0):
300299
"""
301300
# Convert phases and magnitude range into a grid suitable for
302301
# building contours
303-
mags=sp.linspace(10**(mag_min/20.0),10**(mag_max/20.0),2000)
304-
Gcl_phases,Gcl_mags=sp.meshgrid(sp.radians(phases),mags)
302+
mags=np.linspace(10**(mag_min/20.0),10**(mag_max/20.0),2000)
303+
Gcl_phases,Gcl_mags=np.meshgrid(np.radians(phases),mags)
305304
returnclosed_loop_contours(Gcl_mags,Gcl_phases)
306305

307306

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