[python-control-discuss] updates to python-control post-commit

[Richard M. <mu...@cd...>]

Sorry for the cryptic commit message below.  I've reconfigured the python-control 'post-commit' script so that it only sends e-mail to the list when there is a commit to trunk.  This lets people do work in branches without having to send out lots of e-mail to the list every time they commit some of their branch code.

The relevant (trunk) change below is that there is now a function issiso() to see if an LTI system is SISO.  This will show up when I commit some additional changes to trunk, probably in a week or two.

In the meantime, working on some trajectory generation code that I need for FBS...

-richard

On 10 Nov 2012, at 18:49 , mur...@us... wrote:

> Revision: 241
>          http://sourceforge.net/p/python-control/code/241
> Author:   murrayrm
> Date:     2012-11-11 02:49:33 +0000 (Sun, 11 Nov 2012)
> Log Message:
> -----------
> Fixed bugs in various calculations and orders of indices.
> 
> Modified Paths:
> --------------
>    branches/rmm-trajgen/examples/doubleint.py
>    branches/rmm-trajgen/trajgen/flatsys.py
>    branches/rmm-trajgen/trajgen/poly.py
>    trunk/src/lti.py
> 
> Modified: branches/rmm-trajgen/examples/doubleint.py
> ===================================================================
> --- branches/rmm-trajgen/examples/doubleint.py	2012-11-11 01:28:03 UTC (rev 240)
> +++ branches/rmm-trajgen/examples/doubleint.py	2012-11-11 02:49:33 UTC (rev 241)
> @@ -17,5 +17,6 @@
> 
> # Find a trajectory
> xd, ud = tg.linear_point_to_point(sys1, x0, xf, 1)
> +print(xd)
> 
> # Plot the trajectory
> 
> Modified: branches/rmm-trajgen/trajgen/flatsys.py
> ===================================================================
> --- branches/rmm-trajgen/trajgen/flatsys.py	2012-11-11 01:28:03 UTC (rev 240)
> +++ branches/rmm-trajgen/trajgen/flatsys.py	2012-11-11 02:49:33 UTC (rev 241)
> @@ -80,7 +80,7 @@
>     # least squares solution for now.
>     #
>     #! TODO: need to allow cost and constraints...
> -    alpha = np.linalg.pinv(M) * np.vstack((zflag_T0, zflag_Tf))
> +    alpha = np.dot(np.linalg.pinv(M), np.vstack((zflag_T0, zflag_Tf)))
> 
>     #
>     # Transform the trajectory from flat outputs to states and inputs
> 
> Modified: branches/rmm-trajgen/trajgen/poly.py
> ===================================================================
> --- branches/rmm-trajgen/trajgen/poly.py	2012-11-11 01:28:03 UTC (rev 240)
> +++ branches/rmm-trajgen/trajgen/poly.py	2012-11-11 02:49:33 UTC (rev 241)
> @@ -14,4 +14,4 @@
>     # Compute the kth derivative of the ith basis function at time t
>     def eval_deriv(self, i, k, t):
>         if (i < k): return 0;           # higher derivative than power
> -        return sp.misc.factorial(k) * np.power(t, i-k)
> +        return sp.misc.factorial(i)/sp.misc.factorial(i-k) * np.power(t, i-k)
> 
> Modified: trunk/src/lti.py
> ===================================================================
> --- trunk/src/lti.py	2012-11-11 01:28:03 UTC (rev 240)
> +++ trunk/src/lti.py	2012-11-11 02:49:33 UTC (rev 241)
> @@ -64,6 +64,16 @@
>         self.outputs = outputs
>         self.dt = dt
> 
> +# Test to see if a system is SISO
> +def issiso(sys, strict=False):
> +    if isinstance(sys, (int, float, complex)) and not strict:
> +        return True
> +    elif not isinstance(sys, Lti):
> +        raise ValueError("Object is not an Lti system")
> +
> +    # Done with the tricky stuff...
> +    return sys.inputs == 1 and sys.outputs == 1
> +
> # Return the timebase (with conversion if unspecified)
> def timebase(sys, strict=True):
>     """Return the timebase for an Lti system
> 
> 
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