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Commitc4f1c34

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authored
Merge pull request#170 from murrayrm/fix_scipy-1.0
Fixes for SciPy 1.0 compatibility
2 parents9457031 +11c99ef commitc4f1c34

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5 files changed

+41
-37
lines changed

5 files changed

+41
-37
lines changed

‎control/bdalg.py

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -54,6 +54,7 @@
5454
"""
5555

5656
importscipyassp
57+
importnumpyasnp
5758
from .importxferfcnastf
5859
from .importstatespasss
5960
from .importfrdataasfrd
@@ -221,18 +222,18 @@ def feedback(sys1, sys2=1, sign=-1):
221222
"""
222223

223224
# Check for correct input types.
224-
ifnotisinstance(sys1, (int,float,complex,tf.TransferFunction,
225-
ss.StateSpace,frd.FRD)):
225+
ifnotisinstance(sys1, (int,float,complex,np.number,
226+
tf.TransferFunction,ss.StateSpace,frd.FRD)):
226227
raiseTypeError("sys1 must be a TransferFunction, StateSpace "+
227228
"or FRD object, or a scalar.")
228-
ifnotisinstance(sys2, (int,float,complex,tf.TransferFunction,
229-
ss.StateSpace,frd.FRD)):
229+
ifnotisinstance(sys2, (int,float,complex,np.number,
230+
tf.TransferFunction,ss.StateSpace,frd.FRD)):
230231
raiseTypeError("sys2 must be a TransferFunction, StateSpace "+
231232
"or FRD object, or a scalar.")
232233

233234
# If sys1 is a scalar, convert it to the appropriate LTI type so that we can
234235
# its feedback member function.
235-
ifisinstance(sys1, (int,float,complex)):
236+
ifisinstance(sys1, (int,float,complex,np.number)):
236237
ifisinstance(sys2,tf.TransferFunction):
237238
sys1=tf._convertToTransferFunction(sys1)
238239
elifisinstance(sys2,ss.StateSpace):

‎control/frdata.py

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -49,6 +49,7 @@
4949
"""
5050

5151
# External function declarations
52+
importnumpyasnp
5253
fromnumpyimportangle,array,empty,ones, \
5354
real,imag,matrix,absolute,eye,linalg,where,dot
5455
fromscipy.interpolateimportsplprep,splev
@@ -219,7 +220,7 @@ def __mul__(self, other):
219220
"""Multiply two LTI objects (serial connection)."""
220221

221222
# Convert the second argument to a transfer function.
222-
ifisinstance(other, (int,float,complex)):
223+
ifisinstance(other, (int,float,complex,np.number)):
223224
returnFRD(self.fresp*other,self.omega,
224225
smooth=(self.ifuncisnotNone))
225226
else:
@@ -245,7 +246,7 @@ def __rmul__(self, other):
245246
"""Right Multiply two LTI objects (serial connection)."""
246247

247248
# Convert the second argument to an frd function.
248-
ifisinstance(other, (int,float,complex)):
249+
ifisinstance(other, (int,float,complex,np.number)):
249250
returnFRD(self.fresp*other,self.omega,
250251
smooth=(self.ifuncisnotNone))
251252
else:
@@ -272,7 +273,7 @@ def __rmul__(self, other):
272273
def__truediv__(self,other):
273274
"""Divide two LTI objects."""
274275

275-
ifisinstance(other, (int,float,complex)):
276+
ifisinstance(other, (int,float,complex,np.number)):
276277
returnFRD(self.fresp* (1/other),self.omega,
277278
smooth=(self.ifuncisnotNone))
278279
else:
@@ -295,7 +296,7 @@ def __div__(self, other):
295296
# TODO: Division of MIMO transfer function objects is not written yet.
296297
def__rtruediv__(self,other):
297298
"""Right divide two LTI objects."""
298-
ifisinstance(other, (int,float,complex)):
299+
ifisinstance(other, (int,float,complex,np.number)):
299300
returnFRD(other/self.fresp,self.omega,
300301
smooth=(self.ifuncisnotNone))
301302
else:
@@ -449,7 +450,7 @@ def _convertToFRD(sys, omega, inputs=1, outputs=1):
449450

450451
returnFRD(fresp,omega,smooth=True)
451452

452-
elifisinstance(sys, (int,float,complex)):
453+
elifisinstance(sys, (int,float,complex,np.number)):
453454
fresp=ones((outputs,inputs,len(omega)),dtype=float)*sys
454455
returnFRD(fresp,omega,smooth=True)
455456

‎control/lti.py

Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -12,6 +12,7 @@
1212
timebaseEqual()
1313
"""
1414

15+
importnumpyasnp
1516
fromnumpyimportabsolute,real
1617

1718
__all__= ['issiso','timebase','timebaseEqual','isdtime','isctime',
@@ -96,7 +97,7 @@ def dcgain(self):
9697

9798
# Test to see if a system is SISO
9899
defissiso(sys,strict=False):
99-
ifisinstance(sys, (int,float,complex))andnotstrict:
100+
ifisinstance(sys, (int,float,complex,np.number))andnotstrict:
100101
returnTrue
101102
elifnotisinstance(sys,LTI):
102103
raiseValueError("Object is not an LTI system")
@@ -114,7 +115,7 @@ def timebase(sys, strict=True):
114115
set to False, dt = True will be returned as 1.
115116
"""
116117
# System needs to be either a constant or an LTI system
117-
ifisinstance(sys, (int,float,complex)):
118+
ifisinstance(sys, (int,float,complex,np.number)):
118119
returnNone
119120
elifnotisinstance(sys,LTI):
120121
raiseValueError("Timebase not defined")
@@ -162,7 +163,7 @@ def isdtime(sys, strict=False):
162163
"""
163164

164165
# Check to see if this is a constant
165-
ifisinstance(sys, (int,float,complex)):
166+
ifisinstance(sys, (int,float,complex,np.number)):
166167
# OK as long as strict checking is off
167168
returnTrueifnotstrictelseFalse
168169

@@ -187,7 +188,7 @@ def isctime(sys, strict=False):
187188
"""
188189

189190
# Check to see if this is a constant
190-
ifisinstance(sys, (int,float,complex)):
191+
ifisinstance(sys, (int,float,complex,np.number)):
191192
# OK as long as strict checking is off
192193
returnTrueifnotstrictelseFalse
193194

‎control/statesp.py

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -58,6 +58,7 @@
5858
fromnumpy.randomimportrand,randn
5959
fromnumpy.linalgimportsolve,eigvals,matrix_rank
6060
fromnumpy.linalg.linalgimportLinAlgError
61+
importscipyassp
6162
fromscipy.signalimportlti,cont2discrete
6263
# from exceptions import Exception
6364
importwarnings
@@ -218,7 +219,7 @@ def __add__(self, other):
218219
"""Add two LTI systems (parallel connection)."""
219220

220221
# Check for a couple of special cases
221-
if (isinstance(other, (int,float,complex))):
222+
if (isinstance(other, (int,float,complex,np.number))):
222223
# Just adding a scalar; put it in the D matrix
223224
A,B,C=self.A,self.B,self.C;
224225
D=self.D+other;
@@ -275,7 +276,7 @@ def __mul__(self, other):
275276
"""Multiply two LTI objects (serial connection)."""
276277

277278
# Check for a couple of special cases
278-
ifisinstance(other, (int,float,complex)):
279+
ifisinstance(other, (int,float,complex,np.number)):
279280
# Just multiplying by a scalar; change the output
280281
A,B=self.A,self.B
281282
C=self.C*other
@@ -316,7 +317,7 @@ def __rmul__(self, other):
316317
"""Right multiply two LTI objects (serial connection)."""
317318

318319
# Check for a couple of special cases
319-
ifisinstance(other, (int,float,complex)):
320+
ifisinstance(other, (int,float,complex,np.number)):
320321
# Just multiplying by a scalar; change the input
321322
A,C=self.A,self.C;
322323
B=self.B*other;
@@ -699,11 +700,10 @@ def _convertToStateSpace(sys, **kw):
699700
# TODO: do we want to squeeze first and check dimenations?
700701
# I think this will fail if num and den aren't 1-D after
701702
# the squeeze
702-
lti_sys=lti(squeeze(sys.num),squeeze(sys.den))
703-
returnStateSpace(lti_sys.A,lti_sys.B,lti_sys.C,lti_sys.D,
704-
sys.dt)
703+
A,B,C,D=sp.signal.tf2ss(squeeze(sys.num),squeeze(sys.den))
704+
returnStateSpace(A,B,C,D,sys.dt)
705705

706-
elifisinstance(sys, (int,float,complex)):
706+
elifisinstance(sys, (int,float,complex,np.number)):
707707
if"inputs"inkw:
708708
inputs=kw["inputs"]
709709
else:

‎control/xferfcn.py

Lines changed: 17 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -52,10 +52,11 @@
5252
"""
5353

5454
# External function declarations
55+
importnumpyasnp
5556
fromnumpyimportangle,any,array,empty,finfo,insert,ndarray,ones, \
5657
polyadd,polymul,polyval,roots,sort,sqrt,zeros,squeeze,exp,pi, \
5758
where,delete,real,poly,poly1d
58-
importnumpyasnp
59+
importscipyassp
5960
fromscipy.signalimportlti,tf2zpk,zpk2tf,cont2discrete
6061
fromcopyimportdeepcopy
6162
fromwarningsimportwarn
@@ -126,7 +127,7 @@ def __init__(self, *args):
126127
data= [num,den]
127128
foriinrange(len(data)):
128129
# Check for a scalar (including 0d ndarray)
129-
if (isinstance(data[i], (int,float,complex))or
130+
if (isinstance(data[i], (int,float,complex,np.number))or
130131
(isinstance(data[i],ndarray)anddata[i].ndim==0)):
131132
# Convert scalar to list of list of array.
132133
if (isinstance(data[i],int)):
@@ -135,7 +136,7 @@ def __init__(self, *args):
135136
else:
136137
data[i]= [[array([data[i]])]]
137138
elif (isinstance(data[i], (list,tuple,ndarray))and
138-
isinstance(data[i][0], (int,float,complex))):
139+
isinstance(data[i][0], (int,float,complex,np.number))):
139140
# Convert array to list of list of array.
140141
if (isinstance(data[i][0],int)):
141142
# Convert integers to floats at this point
@@ -146,7 +147,8 @@ def __init__(self, *args):
146147
elif (isinstance(data[i],list)and
147148
isinstance(data[i][0],list)and
148149
isinstance(data[i][0][0], (list,tuple,ndarray))and
149-
isinstance(data[i][0][0][0], (int,float,complex))):
150+
isinstance(data[i][0][0][0], (int,float,complex,
151+
np.number))):
150152
# We might already have the right format. Convert the
151153
# coefficient vectors to arrays, if necessary.
152154
forjinrange(len(data[i])):
@@ -363,7 +365,7 @@ def __rsub__(self, other):
363365
def__mul__(self,other):
364366
"""Multiply two LTI objects (serial connection)."""
365367
# Convert the second argument to a transfer function.
366-
ifisinstance(other, (int,float,complex)):
368+
ifisinstance(other, (int,float,complex,np.number)):
367369
other=_convertToTransferFunction(other,inputs=self.inputs,
368370
outputs=self.inputs)
369371
else:
@@ -410,7 +412,7 @@ def __rmul__(self, other):
410412
"""Right multiply two LTI objects (serial connection)."""
411413

412414
# Convert the second argument to a transfer function.
413-
ifisinstance(other, (int,float,complex)):
415+
ifisinstance(other, (int,float,complex,np.number)):
414416
other=_convertToTransferFunction(other,inputs=self.inputs,
415417
outputs=self.inputs)
416418
else:
@@ -458,7 +460,7 @@ def __rmul__(self, other):
458460
def__truediv__(self,other):
459461
"""Divide two LTI objects."""
460462

461-
ifisinstance(other, (int,float,complex)):
463+
ifisinstance(other, (int,float,complex,np.number)):
462464
other=_convertToTransferFunction(
463465
other,inputs=self.inputs,
464466
outputs=self.inputs)
@@ -492,7 +494,7 @@ def __div__(self, other):
492494
# TODO: Division of MIMO transfer function objects is not written yet.
493495
def__rtruediv__(self,other):
494496
"""Right divide two LTI objects."""
495-
ifisinstance(other, (int,float,complex)):
497+
ifisinstance(other, (int,float,complex,np.number)):
496498
other=_convertToTransferFunction(
497499
other,inputs=self.inputs,
498500
outputs=self.inputs)
@@ -1128,22 +1130,21 @@ def _convertToTransferFunction(sys, **kw):
11281130
# Each transfer function matrix row
11291131
# has a common denominator.
11301132
den[i][j]=list(tfout[5][i, :])
1131-
# print(num)
1132-
# print(den)
1133+
11331134
exceptImportError:
11341135
# If slycot is not available, use signal.lti (SISO only)
11351136
if (sys.inputs!=1orsys.outputs!=1):
11361137
raiseTypeError("No support for MIMO without slycot")
11371138

1138-
lti_sys=lti(sys.A,sys.B,sys.C,sys.D)
1139-
num=squeeze(lti_sys.num)
1140-
den=squeeze(lti_sys.den)
1141-
# print(num)
1142-
# print(den)
1139+
# Do the conversion using sp.signal.ss2tf
1140+
# Note that this returns a 2D array for the numerator
1141+
num,den=sp.signal.ss2tf(sys.A,sys.B,sys.C,sys.D)
1142+
num=squeeze(num)# Convert to 1D array
1143+
den=squeeze(den)# Probably not needed
11431144

11441145
returnTransferFunction(num,den,sys.dt)
11451146

1146-
elifisinstance(sys, (int,float,complex)):
1147+
elifisinstance(sys, (int,float,complex,np.number)):
11471148
if"inputs"inkw:
11481149
inputs=kw["inputs"]
11491150
else:

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