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Prepare for removal of dependency on numpy.matrix class #292

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a4986b6
add StateSpaceMatrix class
murrayrm Apr 16, 2019
f010542
remove np.matrix dependencies from module code
murrayrm Apr 16, 2019
afc4ef4
remove np.matrix dependencies from tests
murrayrm Apr 16, 2019
14d5c3a
add matrix power operation (**) to StateSpaceMatrix
murrayrm Apr 16, 2019
08f1c51
code cleanup (including PEP8)
murrayrm Apr 16, 2019
ce42c1c
Fix typo in control/statesp.py
moorepants Apr 16, 2019
fbc58ec
add return_type keyword to functions that previously returned np.matrix
murrayrm Apr 17, 2019
2dafd5c
Merge branch 'np.matrix' of https://github.com/murrayrm/python-contro…
murrayrm Apr 17, 2019
e492f2b
Merge branch 'master' into np.matrix
murrayrm May 19, 2019
2304807
Merge updates to master and update additional unit tests
murrayrm May 31, 2019
fe528a8
merge latest master + fix simple conflict
murrayrm Jun 1, 2019
d93ea5e
implement remaining dunder methods for StateSpace
murrayrm Jun 8, 2019
dc333a6
Create config options for using numpy.matrix as state space return type
murrayrm Jun 8, 2019
4bba186
skip np.matrix warning checks in py2.7 due to bug in repeated warnings
murrayrm Jun 8, 2019
a5126f8
TRV: docstring updates
murrayrm Jun 8, 2019
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implement remaining dunder methods for StateSpace
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@murrayrm
murrayrm committed Jun 8, 2019
commit d93ea5edf35c32fc293a229561192d34adaaaab8
13 changes: 12 additions & 1 deletion control/statesp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -167,18 +167,29 @@ def __mul__(self, other):
product = np.dot(self, other)
return product if np.isrealobj(product) else np.asarray(product)

return NotImplemented
raise NotImplementedError("Unknown object for StateSpaceMatrix "
"multiplication.")

def __rmul__(self, other):
"""Multiply or scale state-space matrices"""
# return np.matrix.__rmul__(self, other) # legacy
product = np.dot(other, self)
return product if np.isrealobj(product) else np.asarray(product)

def __imul__(self, other):
return self.__mul__(other)

def __pow__(self, n):
"""Raise a (square) matrix to the (integer) power `n`"""
return np.linalg.matrix_power(self, n)

def __rpow__(self, other):
raise NotImplementedError("StateSpaceMatrix powers are not "
"implemented.")

def __ipow__(self, n):
return self.__pow__(n)

def __getitem__(self, index):
"""Get elements of a state-space matrix and return matrix"""
# return np.matrix.__getitem__(self, index) # legacy
Expand Down
40 changes: 38 additions & 2 deletions control/tests/ssmatrix_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ def test_mul(self):
self.assertEqual(CmRm.shape, (2, 2))
np.testing.assert_array_equal(CmRm, np.dot(Cm, Rm))

def test_multiple_other(self):
def test_multiply_other(self):
"""Make sure that certain operations preserve StateSpaceMatrix type"""
M = ct.StateSpaceMatrix([[1, 1], [1, 1]])
Mint = M * 5
Expand Down Expand Up @@ -129,7 +129,30 @@ def test_multiple_other(self):
Mcomplex = np.array([[1j, 0], [0, 1j]]) * M
self.assertFalse(isinstance(Mcomplex, ct.StateSpaceMatrix))

def test_power(self):
def test_imul(self):
# Make sure that multiplying two matrices gives a matrix
M1 = ct.StateSpaceMatrix([[1, 1], [1, -1]])
M2 = ct.StateSpaceMatrix([[1, 2], [2, 1]])
Mprod = M1; Mprod *= M2
self.assertTrue(isinstance(Mprod, ct.StateSpaceMatrix))
self.assertEqual(Mprod.shape, (2, 2))
np.testing.assert_array_equal(Mprod, np.dot(M1, M2))

# Matrix times a (state-space) column vector gives a column vector
Cm = ct.StateSpaceMatrix([[1], [2]])
MCm = M1; MCm *= Cm
self.assertTrue(isinstance(MCm, ct.StateSpaceMatrix))
self.assertEqual(MCm.shape, (2, 1))
np.testing.assert_array_equal(MCm, np.dot(M1, Cm))

# Matrix times a (ndarray) column vector gives a column vector
Ca = np.array([[1], [2]])
MCa = M1; MCa *= Ca
self.assertTrue(isinstance(MCa, ct.StateSpaceMatrix))
self.assertEqual(MCa.shape, (2, 1))
np.testing.assert_array_equal(MCa, np.dot(M1, Ca))

def test_pow(self):
"""Test matrix exponential"""
# Generate cases that should work
M = ct.ssmatrix([[1, 1], [-1, 2]])
Expand All @@ -142,6 +165,19 @@ def test_power(self):
self.assertRaises(TypeError, lambda: M**0.5)
self.assertRaises(np.linalg.LinAlgError, lambda: M[0, :]**2)

def test_ipow(self):
"""Test matrix exponential"""
# Generate cases that should work
M = ct.ssmatrix([[1, 1], [-1, 2]])
M0 = M; M0 **= 0
M1 = M; M1 **= 1
M2 = M; M2 **= 2
M3 = M; M3 **= 3
np.testing.assert_array_almost_equal(M0, np.eye(2))
np.testing.assert_array_almost_equal(M1, M)
np.testing.assert_array_almost_equal(M2, np.dot(M, M))
np.testing.assert_array_almost_equal(M3, M*M*M)

def test_getitem(self):
M = ct.StateSpaceMatrix([[1, 2, 3], [4, 5, 6], [7, 8, 9]])

Expand Down