discrete time LaTeX repr of StateSpace systems

bnavigator · bnavigator · commit 0a7cd533fbc5 · 2021-04-11T18:39:46.000+02:00
diff --git a/control/statesp.py b/control/statesp.py
@@ -418,8 +418,8 @@ def _latex_partitioned_stateless(self):
         """
         lines = [
             r'\[',
-            r'\left(',
-            (r'\begin{array}'
+            (r'\left('
+             + r'\begin{array}'
              + r'{' + 'rll' * self.ninputs + '}')
             ]
 
@@ -429,7 +429,8 @@ def _latex_partitioned_stateless(self):
 
         lines.extend([
             r'\end{array}'
-            r'\right)',
+            r'\right)'
+            + self._latex_dt(),
             r'\]'])
 
         return '\n'.join(lines)
@@ -449,8 +450,8 @@ def _latex_partitioned(self):
 
         lines = [
             r'\[',
-            r'\left(',
-            (r'\begin{array}'
+            (r'\left('
+             + r'\begin{array}'
              + r'{' + 'rll' * self.nstates + '|' + 'rll' * self.ninputs + '}')
             ]
 
@@ -466,7 +467,8 @@ def _latex_partitioned(self):
 
         lines.extend([
             r'\end{array}'
-            r'\right)',
+            + r'\right)'
+            + self._latex_dt(),
             r'\]'])
 
         return '\n'.join(lines)
@@ -509,11 +511,21 @@ def fmt_matrix(matrix, name):
         lines.extend(fmt_matrix(self.D, 'D'))
 
         lines.extend([
-            r'\end{array}',
+            r'\end{array}'
+            + self._latex_dt(),
             r'\]'])
 
         return '\n'.join(lines)
 
+    def _latex_dt(self):
+        if self.isdtime(strict=True):
+            if self.dt is True:
+                return r"~,~dt~\mathrm{unspecified}"
+            else:
+                fmt = config.defaults['statesp.latex_num_format']
+                return f"~,~dt={self.dt:{fmt}}"
+        return ""
+
     def _repr_latex_(self):
         """LaTeX representation of state-space model
 
@@ -534,9 +546,9 @@ def _repr_latex_(self):
         elif config.defaults['statesp.latex_repr_type'] == 'separate':
             return self._latex_separate()
         else:
-            cfg = config.defaults['statesp.latex_repr_type']
             raise ValueError(
-                "Unknown statesp.latex_repr_type '{cfg}'".format(cfg=cfg))
+                "Unknown statesp.latex_repr_type '{cfg}'".format(
+                    cfg=config.defaults['statesp.latex_repr_type']))
 
     # Negation of a system
     def __neg__(self):
diff --git a/control/tests/statesp_test.py b/control/tests/statesp_test.py
@@ -997,19 +997,19 @@ def test_statespace_defaults(self, matarrayout):
           [[1.2345, -2e-200], [-1, 0]])
 
 LTX_G1_REF = {
-    'p3_p' : '\\[\n\\left(\n\\begin{array}{rllrll|rll}\n3.&\\hspace{-1em}14&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n-1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\hline\n9.&\\hspace{-1em}88&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}00123&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
+    'p3_p' : '\\[\n\\left(\\begin{array}{rllrll|rll}\n3.&\\hspace{-1em}14&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n-1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\hline\n9.&\\hspace{-1em}88&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}00123&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
 
-    'p5_p' : '\\[\n\\left(\n\\begin{array}{rllrll|rll}\n3.&\\hspace{-1em}1416&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n-1.&\\hspace{-1em}2346&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\hline\n9.&\\hspace{-1em}8765&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}001234&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
+    'p5_p' : '\\[\n\\left(\\begin{array}{rllrll|rll}\n3.&\\hspace{-1em}1416&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n-1.&\\hspace{-1em}2346&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\hline\n9.&\\hspace{-1em}8765&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}001234&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
 
     'p3_s' : '\\[\n\\begin{array}{ll}\nA = \\left(\\begin{array}{rllrll}\n3.&\\hspace{-1em}14&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}\\\\\n-1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}\\\\\n\\end{array}\\right)\n&\nB = \\left(\\begin{array}{rll}\n0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\\\\nC = \\left(\\begin{array}{rllrll}\n9.&\\hspace{-1em}88&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}00123&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n&\nD = \\left(\\begin{array}{rll}\n5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n\\]',
 
     'p5_s' : '\\[\n\\begin{array}{ll}\nA = \\left(\\begin{array}{rllrll}\n3.&\\hspace{-1em}1416&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}\\\\\n-1.&\\hspace{-1em}2346&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}\\\\\n\\end{array}\\right)\n&\nB = \\left(\\begin{array}{rll}\n0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\\\\nC = \\left(\\begin{array}{rllrll}\n9.&\\hspace{-1em}8765&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}001234&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n&\nD = \\left(\\begin{array}{rll}\n5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n\\]',
 }
 
 LTX_G2_REF = {
-    'p3_p' : '\\[\n\\left(\n\\begin{array}{rllrll}\n1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
+    'p3_p' : '\\[\n\\left(\\begin{array}{rllrll}\n1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
 
-    'p5_p' : '\\[\n\\left(\n\\begin{array}{rllrll}\n1.&\\hspace{-1em}2345&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
+    'p5_p' : '\\[\n\\left(\\begin{array}{rllrll}\n1.&\\hspace{-1em}2345&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
 
     'p3_s' : '\\[\n\\begin{array}{ll}\nD = \\left(\\begin{array}{rllrll}\n1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n\\]',
 
@@ -1022,9 +1022,14 @@ def test_statespace_defaults(self, matarrayout):
 @pytest.mark.parametrize(" gmats,  ref",
                          [(LTX_G1, LTX_G1_REF),
                           (LTX_G2, LTX_G2_REF)])
+@pytest.mark.parametrize("dt, dtref",
+                         [(0, ""),
+                          (None, ""),
+                          (True, r"~,~dt~\mathrm{{unspecified}}"),
+                          (0.1, r"~,~dt={dt:{fmt}}")])
 @pytest.mark.parametrize("repr_type", [None, "partitioned", "separate"])
 @pytest.mark.parametrize("num_format", [None, ".3g", ".5g"])
-def test_latex_repr(gmats, ref, repr_type, num_format, editsdefaults):
+def test_latex_repr(gmats, ref, dt, dtref, repr_type, num_format, editsdefaults):
     """Test `._latex_repr_` with different config values
 
     This is a 'gold image' test, so if you change behaviour,
@@ -1040,9 +1045,11 @@ def test_latex_repr(gmats, ref, repr_type, num_format, editsdefaults):
     if repr_type is not None:
         set_defaults('statesp', latex_repr_type=repr_type)
 
-    g = StateSpace(*gmats)
+    g = StateSpace(*(gmats+(dt,)))
     refkey = "{}_{}".format(refkey_n[num_format], refkey_r[repr_type])
-    assert g._repr_latex_() == ref[refkey]
+    dt_latex = dtref.format(dt=dt, fmt=defaults['statesp.latex_num_format'])
+    ref_latex = ref[refkey][:-3] + dt_latex + ref[refkey][-3:]
+    assert g._repr_latex_() == ref_latex
 
 
 @pytest.mark.parametrize(
