MAINT: _bode_defaults removed, fields moved in _freqplot_default

TST: tests in config_test modified to interpret omega in Hz if the option Hz is set to True
bnavigator · Apr 29, 2021 · Mar 27, 2021 · Mar 28, 2021 · Mar 28, 2021 · Mar 28, 2021
commit 48015d55f6361b3faf0d21e6976d6c2ff227b4a2
diff --git a/control/config.py b/control/config.py
@@ -43,8 +43,7 @@ def reset_defaults():
     # System level defaults
     defaults.update(_control_defaults)
 
-    from .freqplot import _bode_defaults, _freqplot_defaults, _nyquist_defaults
-    defaults.update(_bode_defaults)
+    from .freqplot import _freqplot_defaults, _nyquist_defaults
     defaults.update(_freqplot_defaults)
     defaults.update(_nyquist_defaults)
 
@@ -133,7 +132,7 @@ def use_matlab_defaults():
         * State space class and functions use Numpy matrix objects
 
     """
-    set_defaults('bode', dB=True, deg=True, Hz=False, grid=True)
+    set_defaults('freqplot', dB=True, deg=True, Hz=False, grid=True)
     set_defaults('statesp', use_numpy_matrix=True)
 
 
@@ -147,7 +146,7 @@ def use_fbs_defaults():
         * Nyquist plots use dashed lines for mirror image of Nyquist curve
 
     """
-    set_defaults('bode', dB=False, deg=True, Hz=False, grid=False)
+    set_defaults('freqplot', dB=False, deg=True, Hz=False, grid=False)
     set_defaults('nyquist', mirror_style='--')
 
 
@@ -179,6 +178,7 @@ class and functions.  If flat is `False`, then matrices are
                       stacklevel=2, category=DeprecationWarning)
     set_defaults('statesp', use_numpy_matrix=flag)
 
+
 def use_legacy_defaults(version):
     """ Sets the defaults to whatever they were in a given release.
 

diff --git a/control/freqplot.py b/control/freqplot.py
@@ -63,6 +63,11 @@
 _freqplot_defaults = {
     'freqplot.feature_periphery_decades': 1,
     'freqplot.number_of_samples': 1000,
+    'freqplot.dB': False,  # Plot gain in dB
+    'freqplot.deg': True,  # Plot phase in degrees
+    'freqplot.Hz': False,  # Plot frequency in Hertz
+    'freqplot.grid': True,  # Turn on grid for gain and phase
+    'freqplot.wrap_phase': False,  # Wrap the phase plot at a given value
 }
 
 #
@@ -76,15 +81,6 @@
 # Bode plot
 #
 
-# Default values for Bode plot configuration variables
-_bode_defaults = {
-    'bode.dB': False,           # Plot gain in dB
-    'bode.deg': True,           # Plot phase in degrees
-    'bode.Hz': False,           # Plot frequency in Hertz
-    'bode.grid': True,          # Turn on grid for gain and phase
-    'bode.wrap_phase': False,   # Wrap the phase plot at a given value
-}
-
 
 def bode_plot(syslist, omega=None,
               plot=True, omega_limits=None, omega_num=None,
@@ -103,10 +99,10 @@ def bode_plot(syslist, omega=None,
         If True, plot result in dB.  Default is false.
     Hz : bool
         If True, plot frequency in Hz (omega must be provided in rad/sec).
-        Default value (False) set by config.defaults['bode.Hz']
+        Default value (False) set by config.defaults['freqplot.Hz']
     deg : bool
         If True, plot phase in degrees (else radians).  Default value (True)
-        config.defaults['bode.deg']
+        config.defaults['freqplot.deg']
     plot : bool
         If True (default), plot magnitude and phase
     omega_limits : array_like of two values
@@ -184,16 +180,21 @@ def bode_plot(syslist, omega=None,
         plot = kwargs.pop('Plot')
 
     # Get values for params (and pop from list to allow keyword use in plot)
-    dB = config._get_param('bode', 'dB', kwargs, _bode_defaults, pop=True)
-    deg = config._get_param('bode', 'deg', kwargs, _bode_defaults, pop=True)
-    Hz = config._get_param('bode', 'Hz', kwargs, _bode_defaults, pop=True)
-    grid = config._get_param('bode', 'grid', kwargs, _bode_defaults, pop=True)
-    plot = config._get_param('bode', 'plot', plot, True)
-    margins = config._get_param('bode', 'margins', margins, False)
+    dB = config._get_param(
+        'freqplot', 'dB', kwargs, _freqplot_defaults, pop=True)
+    deg = config._get_param(
+        'freqplot', 'deg', kwargs, _freqplot_defaults, pop=True)
+    Hz = config._get_param(
+        'freqplot', 'Hz', kwargs, _freqplot_defaults, pop=True)
+    grid = config._get_param(
+        'freqplot', 'grid', kwargs, _freqplot_defaults, pop=True)
+    plot = config._get_param('freqplot', 'plot', plot, True)
+    margins = config._get_param(
+        'freqplot', 'margins', margins, False)
     wrap_phase = config._get_param(
-        'bode', 'wrap_phase', kwargs, _bode_defaults, pop=True)
+        'freqplot', 'wrap_phase', kwargs, _freqplot_defaults, pop=True)
     initial_phase = config._get_param(
-        'bode', 'initial_phase', kwargs, None, pop=True)
+        'freqplot', 'initial_phase', kwargs, None, pop=True)
     omega_num = config._get_param('freqplot', 'number_of_samples', omega_num)
     # If argument was a singleton, turn it into a tuple
     if not hasattr(syslist, '__iter__'):
@@ -937,9 +938,12 @@ def gangof4_plot(P, C, omega=None, **kwargs):
             "Gang of four is currently only implemented for SISO systems.")
 
     # Get the default parameter values
-    dB = config._get_param('bode', 'dB', kwargs, _bode_defaults, pop=True)
-    Hz = config._get_param('bode', 'Hz', kwargs, _bode_defaults, pop=True)
-    grid = config._get_param('bode', 'grid', kwargs, _bode_defaults, pop=True)
+    dB = config._get_param(
+        'freqplot', 'dB', kwargs, _freqplot_defaults, pop=True)
+    Hz = config._get_param(
+        'freqplot', 'Hz', kwargs, _freqplot_defaults, pop=True)
+    grid = config._get_param(
+        'freqplot', 'grid', kwargs, _freqplot_defaults, pop=True)
 
     # Compute the senstivity functions
     L = P * C
@@ -1094,11 +1098,11 @@ def singular_values_plot(syslist, omega=None,
 
     # Get values for params (and pop from list to allow keyword use in plot)
     dB = config._get_param(
-        'singular_values_plot', 'dB', kwargs, _singular_values_plot_default, pop=True)
+        'freqplot', 'dB', kwargs, _singular_values_plot_default, pop=True)
     Hz = config._get_param(
-        'singular_values_plot', 'Hz', kwargs, _singular_values_plot_default, pop=True)
+        'freqplot', 'Hz', kwargs, _singular_values_plot_default, pop=True)
     grid = config._get_param(
-        'singular_values_plot', 'grid', kwargs, _singular_values_plot_default, pop=True)
+        'freqplot', 'grid', kwargs, _singular_values_plot_default, pop=True)
     plot = config._get_param(
         'singular_values_plot', 'plot', plot, True)
     omega_num = config._get_param('freqplot', 'number_of_samples', omega_num)
@@ -1262,7 +1266,7 @@ def _determine_omega_vector(syslist, omega_in, omega_limits, omega_num, Hz):
                                     np.log10(omega_limits[1]),
                                     num=omega_num, endpoint=True)
     else:
-        omega_out = np.asarray(omega_in)
+        omega_out = np.copy(omega_in)
         if Hz:
             omega_out *= 2. * math.pi
     return omega_out, omega_range_given

diff --git a/control/tests/config_test.py b/control/tests/config_test.py
@@ -30,9 +30,9 @@ def test_set_defaults(self):
 
     @mplcleanup
     def test_get_param(self):
-        assert ct.config._get_param('bode', 'dB')\
-            == ct.config.defaults['bode.dB']
-        assert ct.config._get_param('bode', 'dB', 1) == 1
+        assert ct.config._get_param('freqplot', 'dB')\
+            == ct.config.defaults['freqplot.dB']
+        assert ct.config._get_param('freqplot', 'dB', 1) == 1
         ct.config.defaults['config.test1'] = 1
         assert ct.config._get_param('config', 'test1', None) == 1
         assert ct.config._get_param('config', 'test1', None, 1) == 1
@@ -85,7 +85,7 @@ def test_fbs_bode(self):
         np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
 
         plt.figure()
-        ct.bode_plot(self.sys, omega, Hz=True)
+        ct.bode_plot(self.sys, omega/2./pi, Hz=True)
         mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
         np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
 
@@ -130,7 +130,7 @@ def test_matlab_bode(self):
         np.testing.assert_almost_equal(mag_y[0], 20*log10(10), decimal=3)
 
         plt.figure()
-        ct.bode_plot(self.sys, omega, Hz=True)
+        ct.bode_plot(self.sys, omega/2./pi, Hz=True)
         mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
         np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
 
@@ -141,9 +141,9 @@ def test_matlab_bode(self):
 
     @mplcleanup
     def test_custom_bode_default(self):
-        ct.config.defaults['bode.dB'] = True
-        ct.config.defaults['bode.deg'] = True
-        ct.config.defaults['bode.Hz'] = True
+        ct.config.defaults['freqplot.dB'] = True
+        ct.config.defaults['freqplot.deg'] = True
+        ct.config.defaults['freqplot.Hz'] = True
 
         # Generate a Bode plot
         plt.figure()
@@ -154,7 +154,7 @@ def test_custom_bode_default(self):
 
         # Override defaults
         plt.figure()
-        ct.bode_plot(self.sys, omega, Hz=True, deg=False, dB=True)
+        ct.bode_plot(self.sys, omega/2./pi, Hz=True, deg=False, dB=True)
         mag_x, mag_y = (((plt.gcf().axes[0]).get_lines())[0]).get_data()
         phase_x, phase_y = (((plt.gcf().axes[1]).get_lines())[0]).get_data()
         np.testing.assert_almost_equal(mag_x[0], 0.001 / (2*pi), decimal=6)
@@ -200,9 +200,9 @@ def test_bode_feature_periphery_decade(self):
     def test_reset_defaults(self):
         ct.use_matlab_defaults()
         ct.reset_defaults()
-        assert not ct.config.defaults['bode.dB']
-        assert ct.config.defaults['bode.deg']
-        assert not ct.config.defaults['bode.Hz']
+        assert not ct.config.defaults['freqplot.dB']
+        assert ct.config.defaults['freqplot.deg']
+        assert not ct.config.defaults['freqplot.Hz']
         assert ct.config.defaults['freqplot.number_of_samples'] == 1000
         assert ct.config.defaults['freqplot.feature_periphery_decades'] == 1.0