fixup int for precision of 0 and freqresp for python 2

bnavigator · bnavigator · commit b7b7f7bb08c8 · 2020-07-26T02:05:34.000+02:00
diff --git a/control/tests/freqresp_test.py b/control/tests/freqresp_test.py
@@ -179,8 +179,21 @@ def discrete_data():
     return {'argvalues': systems.values(), 'ids': systems.keys()}
 
 
+rsys = rss(3, 1, 1)
+
+
+@pytest.mark.parametrize(
+    "sys",
+    [sys for dt in [0.1, True] for sys in
+     [StateSpace(rsys.A, rsys.B, rsys.C, rsys.D, dt),
+      StateSpace([[-3., 4., 2.], [-1., -3., 0.], [2., 5., 3.]],
+                 [[1., 4.], [-3., -3.], [-2., 1.]],
+                 [[4., 2., -3.], [1., 4., 3.]],
+                 [[-2., 4.], [0., 1.]], dt),
+      TransferFunction([1, 1], [1, 2, 1], dt)]
+     ]
+)
 @mplcleanup
-@pytest.mark.parametrize("sys", **discrete_data())
 def test_discrete(sys):
     """Test discrete time frequency response"""
     # Set frequency range to just below Nyquist freq (for Bode)
diff --git a/control/tests/input_element_int_test.py b/control/tests/input_element_int_test.py
@@ -1,54 +1,57 @@
-# input_element_int_test.py
-#
-# Author: Kangwon Lee (kangwonlee)
-# Date: 22 Oct 2017
-#
-# Unit tests contributed as part of PR #158, "SISO tf() may not work
-# with numpy arrays with numpy.int elements"
-#
-# Modified:
-# * 29 Dec 2017, RMM - updated file name and added header
-
-import unittest
+"""input_element_int_test.py
+
+Author: Kangwon Lee (kangwonlee)
+Date: 22 Oct 2017
+
+Modified:
+* 29 Dec 2017, RMM - updated file name and added header
+"""
+
 import numpy as np
 import control as ctl
 
-class TestTfInputIntElement(unittest.TestCase):
-    # currently these do not pass
+class TestTfInputIntElement:
+    """input_element_int_test
+
+    Unit tests contributed as part of PR gh-158, "SISO tf() may not work
+    with numpy arrays with numpy.int elements
+    """
+
     def test_tf_den_with_numpy_int_element(self):
         num = 1
         den = np.convolve([1, 2, 1], [1, 1, 1])
 
         sys = ctl.tf(num, den)
 
-        self.assertAlmostEqual(1.0, ctl.dcgain(sys))
+        np.testing.assert_array_max_ulp(1.0, ctl.dcgain(sys))
 
     def test_tf_num_with_numpy_int_element(self):
         num = np.convolve([1], [1, 1])
         den = np.convolve([1, 2, 1], [1, 1, 1])
 
         sys = ctl.tf(num, den)
 
-        self.assertAlmostEqual(1.0, ctl.dcgain(sys))
+        np.testing.assert_array_max_ulp(1.0, ctl.dcgain(sys))
 
     # currently these pass
-    def test_tf_input_with_int_element_works(self):
+    def test_tf_input_with_int_element(self):
         num = 1
         den = np.convolve([1.0, 2, 1], [1, 1, 1])
 
         sys = ctl.tf(num, den)
 
-        self.assertAlmostEqual(1.0, ctl.dcgain(sys))
+        np.testing.assert_array_max_ulp(1.0, ctl.dcgain(sys))
 
     def test_ss_input_with_int_element(self):
-        ident = np.matrix(np.identity(2), dtype=int)
-        a = np.matrix([[0, 1],
-                       [-1, -2]], dtype=int) * ident
-        b = np.matrix([[0],
+        ident = np.eye(2, dtype=int)
+        a = np.array([[0, 1],
+                       [-1, -2]], dtype=int).dot(ident)
+        b = np.array([[0],
                        [1]], dtype=int)
-        c = np.matrix([[0, 1]], dtype=int)
+        c = np.array([[0, 1]], dtype=int)
         d = 0
 
         sys = ctl.ss(a, b, c, d)
         sys2 = ctl.ss2tf(sys)
-        self.assertAlmostEqual(ctl.dcgain(sys), ctl.dcgain(sys2))
+        np.testing.assert_array_max_ulp(ctl.dcgain(sys), ctl.dcgain(sys2),
+                                        maxulp=2)
