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Commit8a56d67

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replace assert_array_equal comparing possible float results
1 parent13f2ce1 commit8a56d67

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8 files changed

+107
-109
lines changed

8 files changed

+107
-109
lines changed

‎control/tests/convert_test.py

Lines changed: 7 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -184,9 +184,7 @@ def testTf2ssStaticSiso(self):
184184
assert0==gsiso.nstates
185185
assert1==gsiso.ninputs
186186
assert1==gsiso.noutputs
187-
# in all cases ratios are exactly representable, so assert_array_equal
188-
# is fine
189-
np.testing.assert_array_equal([[0.5]],gsiso.D)
187+
np.testing.assert_allclose([[0.5]],gsiso.D)
190188

191189
deftestTf2ssStaticMimo(self):
192190
"""Regression: tf2ss for MIMO static gain"""
@@ -198,13 +196,13 @@ def testTf2ssStaticMimo(self):
198196
assert3==gmimo.ninputs
199197
assert2==gmimo.noutputs
200198
d=np.array([[0.5,30,0.0625], [-0.5,-1.25,101.3]])
201-
np.testing.assert_array_equal(d,gmimo.D)
199+
np.testing.assert_allclose(d,gmimo.D)
202200

203201
deftestSs2tfStaticSiso(self):
204202
"""Regression: ss2tf for SISO static gain"""
205203
gsiso=ss2tf(ss([], [], [],0.5))
206-
np.testing.assert_array_equal([[[0.5]]],gsiso.num)
207-
np.testing.assert_array_equal([[[1.]]],gsiso.den)
204+
np.testing.assert_allclose([[[0.5]]],gsiso.num)
205+
np.testing.assert_allclose([[[1.]]],gsiso.den)
208206

209207
deftestSs2tfStaticMimo(self):
210208
"""Regression: ss2tf for MIMO static gain"""
@@ -217,8 +215,8 @@ def testSs2tfStaticMimo(self):
217215

218216
# we need a 3x2x1 array to compare with gtf.num
219217
numref=d[...,np.newaxis]
220-
np.testing.assert_array_equal(numref,
221-
np.array(gtf.num)/np.array(gtf.den))
218+
np.testing.assert_allclose(numref,
219+
np.array(gtf.num)/np.array(gtf.den))
222220

223221
@slycotonly
224222
deftestTf2SsDuplicatePoles(self):
@@ -229,7 +227,7 @@ def testTf2SsDuplicatePoles(self):
229227
[[1], [1,0]]]
230228
g=tf(num,den)
231229
s=ss(g)
232-
np.testing.assert_array_equal(g.pole(),s.pole())
230+
np.testing.assert_allclose(g.pole(),s.pole())
233231

234232
@slycotonly
235233
deftest_tf2ss_robustness(self):

‎control/tests/descfcn_test.py

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -53,26 +53,26 @@ def test_static_nonlinear_call(satsys):
5353
input= [-2,-1,-0.5,0,0.5,1,2]
5454
desired= [-1,-1,-0.5,0,0.5,1,1]
5555
forx,yinzip(input,desired):
56-
assertsatsys(x)==y
56+
np.testing.assert_allclose(satsys(x),y)
5757

5858
# Test squeeze properties
5959
assertsatsys(0.)==0.
6060
assertsatsys([0.],squeeze=True)==0.
61-
np.testing.assert_array_equal(satsys([0.]), [0.])
61+
np.testing.assert_allclose(satsys([0.]), [0.])
6262

6363
# Test SIMO nonlinearity
6464
def_simofcn(t,x,u,params):
6565
returnnp.array([np.cos(u),np.sin(u)])
6666
simo_sys=ct.NonlinearIOSystem(None,outfcn=_simofcn,input=1,output=2)
67-
np.testing.assert_array_equal(simo_sys([0.]), [1,0])
68-
np.testing.assert_array_equal(simo_sys([0.],squeeze=True), [1,0])
67+
np.testing.assert_allclose(simo_sys([0.]), [1,0])
68+
np.testing.assert_allclose(simo_sys([0.],squeeze=True), [1,0])
6969

7070
# Test MISO nonlinearity
7171
def_misofcn(t,x,u,params={}):
7272
returnnp.array([np.sin(u[0])*np.cos(u[1])])
7373
miso_sys=ct.NonlinearIOSystem(None,outfcn=_misofcn,input=2,output=1)
74-
np.testing.assert_array_equal(miso_sys([0,0]), [0])
75-
np.testing.assert_array_equal(miso_sys([0,0],squeeze=True), [0])
74+
np.testing.assert_allclose(miso_sys([0,0]), [0])
75+
np.testing.assert_allclose(miso_sys([0,0],squeeze=True), [0])
7676

7777

7878
# Test saturation describing function in multiple ways

‎control/tests/interconnect_test.py

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -36,10 +36,10 @@ def test_summing_junction(inputs, output, dimension, D):
3636
sum=ct.summing_junction(
3737
inputs=inputs,output=output,dimension=dimension)
3838
dim=1ifdimensionisNoneelsedimension
39-
np.testing.assert_array_equal(sum.A,np.ndarray((0,0)))
40-
np.testing.assert_array_equal(sum.B,np.ndarray((0,ninputs*dim)))
41-
np.testing.assert_array_equal(sum.C,np.ndarray((dim,0)))
42-
np.testing.assert_array_equal(sum.D,D)
39+
np.testing.assert_allclose(sum.A,np.ndarray((0,0)))
40+
np.testing.assert_allclose(sum.B,np.ndarray((0,ninputs*dim)))
41+
np.testing.assert_allclose(sum.C,np.ndarray((dim,0)))
42+
np.testing.assert_allclose(sum.D,D)
4343

4444

4545
deftest_summation_exceptions():
@@ -96,7 +96,7 @@ def test_interconnect_implicit():
9696
# Setting connections to False should lead to an empty connection map
9797
empty=ct.interconnect(
9898
(C,P,sumblk),connections=False,inplist=['r'],outlist=['y'])
99-
np.testing.assert_array_equal(empty.connect_map,np.zeros((4,3)))
99+
np.testing.assert_allclose(empty.connect_map,np.zeros((4,3)))
100100

101101
# Implicit summation across repeated signals
102102
kp_io=ct.tf2io(kp,inputs='e',outputs='u',name='kp')

‎control/tests/iosys_test.py

Lines changed: 28 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -89,10 +89,10 @@ def test_ss2io(self, tsys):
8989
# Create an input/output system from the linear system
9090
linsys=tsys.siso_linsys
9191
iosys=ct.ss2io(linsys)
92-
np.testing.assert_array_equal(linsys.A,iosys.A)
93-
np.testing.assert_array_equal(linsys.B,iosys.B)
94-
np.testing.assert_array_equal(linsys.C,iosys.C)
95-
np.testing.assert_array_equal(linsys.D,iosys.D)
92+
np.testing.assert_allclose(linsys.A,iosys.A)
93+
np.testing.assert_allclose(linsys.B,iosys.B)
94+
np.testing.assert_allclose(linsys.C,iosys.C)
95+
np.testing.assert_allclose(linsys.D,iosys.D)
9696

9797
# Try adding names to things
9898
iosys_named=ct.ss2io(linsys,inputs='u',outputs='y',
@@ -104,10 +104,10 @@ def test_ss2io(self, tsys):
104104
assertiosys_named.find_state('x0')isNone
105105
assertiosys_named.find_state('x1')==0
106106
assertiosys_named.find_state('x2')==1
107-
np.testing.assert_array_equal(linsys.A,iosys_named.A)
108-
np.testing.assert_array_equal(linsys.B,iosys_named.B)
109-
np.testing.assert_array_equal(linsys.C,iosys_named.C)
110-
np.testing.assert_array_equal(linsys.D,iosys_named.D)
107+
np.testing.assert_allclose(linsys.A,iosys_named.A)
108+
np.testing.assert_allclose(linsys.B,iosys_named.B)
109+
np.testing.assert_allclose(linsys.C,iosys_named.C)
110+
np.testing.assert_allclose(linsys.D,iosys_named.D)
111111

112112
deftest_iosys_unspecified(self,tsys):
113113
"""System with unspecified inputs and outputs"""
@@ -1132,14 +1132,14 @@ def test_lineariosys_statespace(self, tsys):
11321132
assertisinstance(iosys_siso,ct.StateSpace)
11331133

11341134
# Make sure that state space functions work for LinearIOSystems
1135-
np.testing.assert_array_equal(
1135+
np.testing.assert_allclose(
11361136
iosys_siso.pole(),tsys.siso_linsys.pole())
11371137
omega=np.logspace(.1,10,100)
11381138
mag_io,phase_io,omega_io=iosys_siso.frequency_response(omega)
11391139
mag_ss,phase_ss,omega_ss=tsys.siso_linsys.frequency_response(omega)
1140-
np.testing.assert_array_equal(mag_io,mag_ss)
1141-
np.testing.assert_array_equal(phase_io,phase_ss)
1142-
np.testing.assert_array_equal(omega_io,omega_ss)
1140+
np.testing.assert_allclose(mag_io,mag_ss)
1141+
np.testing.assert_allclose(phase_io,phase_ss)
1142+
np.testing.assert_allclose(omega_io,omega_ss)
11431143

11441144
# LinearIOSystem methods should override StateSpace methods
11451145
io_mul=iosys_siso*iosys_siso2
@@ -1150,19 +1150,19 @@ def test_lineariosys_statespace(self, tsys):
11501150

11511151
# And make sure the systems match
11521152
ss_series=tsys.siso_linsys*tsys.siso_linsys
1153-
np.testing.assert_array_equal(io_mul.A,ss_series.A)
1154-
np.testing.assert_array_equal(io_mul.B,ss_series.B)
1155-
np.testing.assert_array_equal(io_mul.C,ss_series.C)
1156-
np.testing.assert_array_equal(io_mul.D,ss_series.D)
1153+
np.testing.assert_allclose(io_mul.A,ss_series.A)
1154+
np.testing.assert_allclose(io_mul.B,ss_series.B)
1155+
np.testing.assert_allclose(io_mul.C,ss_series.C)
1156+
np.testing.assert_allclose(io_mul.D,ss_series.D)
11571157

11581158
# Make sure that series does the same thing
11591159
io_series=ct.series(iosys_siso,iosys_siso2)
11601160
assertisinstance(io_series,ct.InputOutputSystem)
11611161
assertisinstance(io_series,ct.StateSpace)
1162-
np.testing.assert_array_equal(io_series.A,ss_series.A)
1163-
np.testing.assert_array_equal(io_series.B,ss_series.B)
1164-
np.testing.assert_array_equal(io_series.C,ss_series.C)
1165-
np.testing.assert_array_equal(io_series.D,ss_series.D)
1162+
np.testing.assert_allclose(io_series.A,ss_series.A)
1163+
np.testing.assert_allclose(io_series.B,ss_series.B)
1164+
np.testing.assert_allclose(io_series.C,ss_series.C)
1165+
np.testing.assert_allclose(io_series.D,ss_series.D)
11661166

11671167
# Test out feedback as well
11681168
io_feedback=ct.feedback(iosys_siso,iosys_siso2)
@@ -1173,10 +1173,10 @@ def test_lineariosys_statespace(self, tsys):
11731173

11741174
# And make sure the systems match
11751175
ss_feedback=ct.feedback(tsys.siso_linsys,tsys.siso_linsys)
1176-
np.testing.assert_array_equal(io_feedback.A,ss_feedback.A)
1177-
np.testing.assert_array_equal(io_feedback.B,ss_feedback.B)
1178-
np.testing.assert_array_equal(io_feedback.C,ss_feedback.C)
1179-
np.testing.assert_array_equal(io_feedback.D,ss_feedback.D)
1176+
np.testing.assert_allclose(io_feedback.A,ss_feedback.A)
1177+
np.testing.assert_allclose(io_feedback.B,ss_feedback.B)
1178+
np.testing.assert_allclose(io_feedback.C,ss_feedback.C)
1179+
np.testing.assert_allclose(io_feedback.D,ss_feedback.D)
11801180

11811181
# Make sure series interconnections are done in the right order
11821182
ss_sys1=ct.rss(2,3,2)
@@ -1190,10 +1190,10 @@ def test_lineariosys_statespace(self, tsys):
11901190

11911191
# While we are at it, check that the state space matrices match
11921192
ss_series=ss_sys2*ss_sys1
1193-
np.testing.assert_array_equal(io_series.A,ss_series.A)
1194-
np.testing.assert_array_equal(io_series.B,ss_series.B)
1195-
np.testing.assert_array_equal(io_series.C,ss_series.C)
1196-
np.testing.assert_array_equal(io_series.D,ss_series.D)
1193+
np.testing.assert_allclose(io_series.A,ss_series.A)
1194+
np.testing.assert_allclose(io_series.B,ss_series.B)
1195+
np.testing.assert_allclose(io_series.C,ss_series.C)
1196+
np.testing.assert_allclose(io_series.D,ss_series.D)
11971197

11981198
deftest_docstring_example(self):
11991199
P=ct.LinearIOSystem(

‎control/tests/statesp_test.py

Lines changed: 13 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -172,12 +172,12 @@ def test_copy_constructor(self):
172172

173173
# Change the original A matrix
174174
A[0,0]=-2
175-
np.testing.assert_array_equal(linsys.A, [[-1]])# original value
176-
np.testing.assert_array_equal(cpysys.A, [[-1]])# original value
175+
np.testing.assert_allclose(linsys.A, [[-1]])# original value
176+
np.testing.assert_allclose(cpysys.A, [[-1]])# original value
177177

178178
# Change the A matrix for the original system
179179
linsys.A[0,0]=-3
180-
np.testing.assert_array_equal(cpysys.A, [[-1]])# original value
180+
np.testing.assert_allclose(cpysys.A, [[-1]])# original value
181181

182182
deftest_copy_constructor_nodt(self,sys322):
183183
"""Test the copy constructor when an object without dt is passed"""
@@ -207,24 +207,24 @@ def test_D_broadcast(self, sys623):
207207
"""Test broadcast of D=0 to the right shape"""
208208
# Giving D as a scalar 0 should broadcast to the right shape
209209
sys=StateSpace(sys623.A,sys623.B,sys623.C,0)
210-
np.testing.assert_array_equal(sys623.D,sys.D)
210+
np.testing.assert_allclose(sys623.D,sys.D)
211211

212212
# Giving D as a matrix of the wrong size should generate an error
213213
withpytest.raises(ValueError):
214214
sys=StateSpace(sys.A,sys.B,sys.C,np.array([[0]]))
215215

216216
# Make sure that empty systems still work
217217
sys=StateSpace([], [], [],1)
218-
np.testing.assert_array_equal(sys.D, [[1]])
218+
np.testing.assert_allclose(sys.D, [[1]])
219219

220220
sys=StateSpace([], [], [], [[0]])
221-
np.testing.assert_array_equal(sys.D, [[0]])
221+
np.testing.assert_allclose(sys.D, [[0]])
222222

223223
sys=StateSpace([], [], [], [0])
224-
np.testing.assert_array_equal(sys.D, [[0]])
224+
np.testing.assert_allclose(sys.D, [[0]])
225225

226226
sys=StateSpace([], [], [],0)
227-
np.testing.assert_array_equal(sys.D, [[0]])
227+
np.testing.assert_allclose(sys.D, [[0]])
228228

229229
deftest_pole(self,sys322):
230230
"""Evaluate the poles of a MIMO system."""
@@ -592,14 +592,14 @@ def test_matrix_static_gain(self):
592592
g3=StateSpace([], [], [],d2.T)
593593

594594
h1=g1*g2
595-
np.testing.assert_array_equal(np.dot(d1,d2),h1.D)
595+
np.testing.assert_allclose(np.dot(d1,d2),h1.D)
596596
h2=g1+g3
597-
np.testing.assert_array_equal(d1+d2.T,h2.D)
597+
np.testing.assert_allclose(d1+d2.T,h2.D)
598598
h3=g1.feedback(g2)
599599
np.testing.assert_array_almost_equal(
600600
solve(np.eye(2)+np.dot(d1,d2),d1),h3.D)
601601
h4=g1.append(g2)
602-
np.testing.assert_array_equal(block_diag(d1,d2),h4.D)
602+
np.testing.assert_allclose(block_diag(d1,d2),h4.D)
603603

604604
deftest_remove_useless_states(self):
605605
"""Regression: _remove_useless_states gives correct ABC sizes."""
@@ -633,7 +633,7 @@ def test_minreal_static_gain(self):
633633
np.testing.assert_array_equal(g1.A,g2.A)
634634
np.testing.assert_array_equal(g1.B,g2.B)
635635
np.testing.assert_array_equal(g1.C,g2.C)
636-
np.testing.assert_array_equal(g1.D,g2.D)
636+
np.testing.assert_allclose(g1.D,g2.D)
637637

638638
deftest_empty(self):
639639
"""Regression: can we create an empty StateSpace object?"""
@@ -651,7 +651,7 @@ def test_matrix_to_state_space(self):
651651
np.testing.assert_array_equal(np.empty((0,0)),g.A)
652652
np.testing.assert_array_equal(np.empty((0,D.shape[1])),g.B)
653653
np.testing.assert_array_equal(np.empty((D.shape[0],0)),g.C)
654-
np.testing.assert_array_equal(D,g.D)
654+
np.testing.assert_allclose(D,g.D)
655655

656656
deftest_lft(self):
657657
""" test lft function with result obtained from matlab implementation"""

‎control/tests/timeresp_test.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -364,7 +364,7 @@ def test_step_nostates(self, dt):
364364
"""
365365
sys=TransferFunction([1], [1],dt)
366366
t,y=step_response(sys)
367-
np.testing.assert_array_equal(y,np.ones(len(t)))
367+
np.testing.assert_allclose(y,np.ones(len(t)))
368368

369369
defassert_step_info_match(self,sys,info,info_ref):
370370
"""Assert reasonable step_info accuracy."""

‎control/tests/xferfcn_input_test.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -69,7 +69,7 @@ def test_clean_part(num, fun, dtype):
6969
fori,numiinenumerate(num_):
7070
assertlen(numi)==ref_.shape[1]
7171
forj,numjinenumerate(numi):
72-
np.testing.assert_array_equal(numj,ref_[i,j, ...])
72+
np.testing.assert_allclose(numj,ref_[i,j, ...])
7373

7474

7575
@pytest.mark.parametrize("badinput", [[[0.,1.], [2.,3.]],"a"])

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