Menu
▾
▴
[python-control-discuss] SF.net SVN: python-control:[58] branches/control-0.4a/src
|
From: <kk...@us...> - 2011-02-08 22:14:33
|
Revision: 58
http://python-control.svn.sourceforge.net/python-control/?rev=58&view=rev
Author: kkchen
Date: 2011-02-08 22:14:27 +0000 (Tue, 08 Feb 2011)
Log Message:
-----------
Bug fix in xTransferFunction._truncatecoeff; miscellaneous other fixes in xferfcn.py.
Also added tests for exceptions in TestXferFcn.py.
Kevin K. Chen <kk...@pr...>
Modified Paths:
--------------
branches/control-0.4a/src/TestXferFcn.py
branches/control-0.4a/src/xferfcn.py
Modified: branches/control-0.4a/src/TestXferFcn.py
===================================================================
--- branches/control-0.4a/src/TestXferFcn.py 2011-02-08 22:14:22 UTC (rev 57)
+++ branches/control-0.4a/src/TestXferFcn.py 2011-02-08 22:14:27 UTC (rev 58)
@@ -9,14 +9,85 @@
function class. Throughout these tests, we will give different input
formats to the xTranferFunction constructor, to try to break it."""
- def testTruncateCoeff(self):
+ # Tests for raising exceptions.
+
+ def testBadInputType(self):
+ """Give the constructor invalid input types."""
+
+ self.assertRaises(ValueError, xTransferFunction, [[0., 1.], [2., 3.]],
+ [[5., 2.], [3., 0.]])
+
+ def testInconsistentDimension(self):
+ """Give the constructor a numerator and denominator of different
+ sizes."""
+
+ self.assertRaises(ValueError, xTransferFunction, [[[1.]]],
+ [[[1.], [2., 3.]]])
+ self.assertRaises(ValueError, xTransferFunction, [[[1.]]],
+ [[[1.]], [[2., 3.]]])
+ self.assertRaises(ValueError, xTransferFunction, [[[1.]]],
+ [[[1.], [1., 2.]], [[5., 2.], [2., 3.]]])
+
+ def testInconsistentColumns(self):
+ """Give the constructor inputs that do not have the same number of
+ columns in each row."""
+
+ self.assertRaises(ValueError, xTransferFunction, 1.,
+ [[[1.]], [[2.], [3.]]])
+ self.assertRaises(ValueError, xTransferFunction, [[[1.]], [[2.], [3.]]],
+ 1.)
+
+ def testZeroDenominator(self):
+ """Give the constructor a transfer function with a zero denominator."""
+
+ self.assertRaises(ValueError, xTransferFunction, 1., 0.)
+ self.assertRaises(ValueError, xTransferFunction,
+ [[[1.], [2., 3.]], [[-1., 4.], [3., 2.]]],
+ [[[1., 0.], [0.]], [[0., 0.], [2.]]])
+
+ def testAddInconsistentDimension(self):
+ """Add two transfer function matrices of different sizes."""
+
+ sys1 = xTransferFunction([[[1., 2.]]], [[[4., 5.]]])
+ sys2 = xTransferFunction([[[4., 3.]], [[1., 2.]]],
+ [[[1., 6.]], [[2., 4.]]])
+ self.assertRaises(ValueError, sys1.__add__, sys2)
+ self.assertRaises(ValueError, sys1.__sub__, sys2)
+ self.assertRaises(ValueError, sys1.__radd__, sys2)
+ self.assertRaises(ValueError, sys1.__rsub__, sys2)
+
+ def testMulInconsistentDimension(self):
+ """Multiply two transfer function matrices of incompatible sizes."""
+
+ sys1 = xTransferFunction([[[1., 2.], [4., 5.]], [[2., 5.], [4., 3.]]],
+ [[[6., 2.], [4., 1.]], [[6., 7.], [2., 4.]]])
+ sys2 = xTransferFunction([[[1.]], [[2.]], [[3.]]],
+ [[[4.]], [[5.]], [[6.]]])
+ self.assertRaises(ValueError, sys1.__mul__, sys2)
+ self.assertRaises(ValueError, sys2.__mul__, sys1)
+ self.assertRaises(ValueError, sys1.__rmul__, sys2)
+ self.assertRaises(ValueError, sys2.__rmul__, sys1)
+
+ # Tests for xTransferFunction._truncatecoeff
+
+ def testTruncateCoeff1(self):
"""Remove extraneous zeros in polynomial representations."""
sys1 = xTransferFunction([0., 0., 1., 2.], [[[0., 0., 0., 3., 2., 1.]]])
np.testing.assert_array_equal(sys1.num, [[[1., 2.]]])
np.testing.assert_array_equal(sys1.den, [[[3., 2., 1.]]])
+
+ def testTruncateCoeff2(self):
+ """Remove extraneous zeros in polynomial representations."""
+
+ sys1 = xTransferFunction([0., 0., 0.], 1.)
+
+ np.testing.assert_array_equal(sys1.num, [[[0.]]])
+ np.testing.assert_array_equal(sys1.den, [[[1.]]])
+ # Tests for xTransferFunction.__neg__
+
def testNegScalar(self):
"""Negate a direct feedthrough system."""
@@ -53,7 +124,9 @@
for j in range(sys3.inputs):
np.testing.assert_array_equal(sys2.num[i][j], sys3.num[i][j])
np.testing.assert_array_equal(sys2.den[i][j], sys3.den[i][j])
-
+
+ # Tests for xTransferFunction.__add__
+
def testAddScalar(self):
"""Add two direct feedthrough systems."""
@@ -100,6 +173,8 @@
np.testing.assert_array_equal(sys3.num[i][j], num3[i][j])
np.testing.assert_array_equal(sys3.den[i][j], den3[i][j])
+ # Tests for xTransferFunction.__sub__
+
def testSubScalar(self):
"""Add two direct feedthrough systems."""
@@ -134,20 +209,22 @@
[[1., 2.], [-1., -2.], [4.]]]
den2 = [[[-1.], [1., 2., 3.], [-1., -1.]],
[[-4., -3., 2.], [0., 1.], [1., 0.]]]
- num3 = [[[3., -3., -6], [5., 6., 9.], [-4., -2., 2]],
- [[3., 2., -3., 2], [-2., -3., 7., 2.], [1., -4., 3., 4]]]
- den3 = [[[3., -2., -4.], [1., 2., 3., 0., 0.], [-2., -1., 1.]],
- [[-12., -9., 6., 0., 0.], [2., -1., -1.], [1., 0.]]]
+ num3 = [[[-3., 1., 2.], [1., 6., 9.], [0.]],
+ [[-3., -10., -3., 2], [2., 3., 1., -2], [1., -4., 3., -4]]]
+ den3 = [[[3., -2., -4], [1., 2., 3., 0., 0.], [-2., -1., 1.]],
+ [[-12., -9., 6., 0., 0.], [2., -1., -1], [1., 0.]]]
sys1 = xTransferFunction(num1, den1)
sys2 = xTransferFunction(num2, den2)
- sys3 = sys1 + sys2
+ sys3 = sys1 - sys2
for i in range(sys3.outputs):
for j in range(sys3.inputs):
np.testing.assert_array_equal(sys3.num[i][j], num3[i][j])
np.testing.assert_array_equal(sys3.den[i][j], den3[i][j])
-
+
+ # Tests for xTransferFunction.__mul__
+
def testMulScalar(self):
"""Multiply two direct feedthrough systems."""
@@ -204,6 +281,8 @@
np.testing.assert_array_equal(sys3.num[i][j], num3[i][j])
np.testing.assert_array_equal(sys3.den[i][j], den3[i][j])
+ # Tests for xTransferFunction.__div__
+
def testDivScalar(self):
"""Divide two direct feedthrough systems."""
Modified: branches/control-0.4a/src/xferfcn.py
===================================================================
--- branches/control-0.4a/src/xferfcn.py 2011-02-08 22:14:22 UTC (rev 57)
+++ branches/control-0.4a/src/xferfcn.py 2011-02-08 22:14:27 UTC (rev 58)
@@ -172,18 +172,24 @@
"""Remove extraneous zero coefficients from polynomials in numerator and
denominator matrices."""
- # Beware: this is a shallow copy.
+ # Beware: this is a shallow copy. This should be okay.
data = [self.num, self.den]
for p in range(len(data)):
for i in range(self.outputs):
for j in range(self.inputs):
# Find the first nontrivial coefficient.
- k = 0
- while not data[p][i][j][k]:
- k += 1
-
- # Now truncate the trivial coefficients.
- data[p][i][j] = data[p][i][j][k:]
+ nonzero = None
+ for k in range(data[p][i][j].size):
+ if data[p][i][j][k]:
+ nonzero = k
+ break
+
+ if nonzero is None:
+ # The array is all zeros.
+ data[p][i][j] = sp.zeros(1)
+ else:
+ # Truncate the trivial coefficients.
+ data[p][i][j] = data[p][i][j][nonzero:]
[self.num, self.den] = data
def __neg__(self):
@@ -205,11 +211,11 @@
# Check that the input-output sizes are consistent.
if self.inputs != other.inputs:
- raise ValueError("The first summand has %i input(s), but the second \
-has %i." % (self.inputs, other.inputs))
+ raise ValueError("The first summand has %i input(s), but the \
+second has %i." % (self.inputs, other.inputs))
if self.outputs != other.outputs:
- raise ValueError("The first summand has %i output(s), but the second \
-has %i." % (self.outputs, other.outputs))
+ raise ValueError("The first summand has %i output(s), but the \
+second has %i." % (self.outputs, other.outputs))
# Preallocate the numerator and denominator of the sum.
num = [[[] for j in range(self.inputs)] for i in range(self.outputs)]
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
