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Rlocus visual display of clicked point #204

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Merged
merged 4 commits into from
Dec 28, 2018
Merged

Rlocus visual display of clicked point #204

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905056c
added display of root_loci within matplotlib and added visual feedbac…
icam0 Apr 1, 2018
7626161
added better res
icam0 May 16, 2018
c65c100
reverted back
icam0 May 17, 2018
b6b92d0
Merge branch 'master' into rlocus_zoom
murrayrm Dec 28, 2018
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14 changes: 12 additions & 2 deletions control/rlocus.py
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Original file line number Diff line number Diff line change
Expand Up @@ -122,9 +122,12 @@ def root_locus(sys, kvect=None, xlim=None, ylim=None, plotstr='-', Plot=True,
ax, f = nogrid()
pylab.title(new_figure_name)

ax = pylab.axes()

if PrintGain:
click_point, = ax.plot([0], [0],color='k',markersize = 0,marker='s',zorder=20)
f.canvas.mpl_connect(
'button_release_event', partial(_RLFeedbackClicks, sys=sys))
'button_release_event', partial(_RLFeedbackClicks, sys=sys,fig=f,point=click_point))

# plot open loop poles
poles = array(denp.r)
Expand Down Expand Up @@ -157,6 +160,7 @@ def _default_gains(num, den, xlim, ylim):
kmax = _k_max(num, den, real_break, k_break)
kvect = np.hstack((np.linspace(0, kmax, 50), np.real(k_break)))
kvect.sort()

mymat = _RLFindRoots(num, den, kvect)
mymat = _RLSortRoots(mymat)
open_loop_poles = den.roots
Expand Down Expand Up @@ -346,13 +350,19 @@ def _RLSortRoots(mymat):
return sorted


def _RLFeedbackClicks(event, sys):
def _RLFeedbackClicks(event, sys,fig,point):
"""Print root-locus gain feedback for clicks on the root-locus plot
"""
s = complex(event.xdata, event.ydata)
K = -1./sys.horner(s)
if abs(K.real) > 1e-8 and abs(K.imag/K.real) < 0.04:
print("Clicked at %10.4g%+10.4gj gain %10.4g damp %10.4g" %
(s.real, s.imag, K.real, -1 * s.real / abs(s)))
point.set_ydata(s.imag)
point.set_xdata(s.real)
point.set_markersize(8)
fig.suptitle("Clicked at: %10.4g%+10.4gj gain: %10.4g damp: %10.4g" %
(s.real, s.imag, K.real, -1 * s.real / abs(s)))
fig.canvas.draw()

rlocus = root_locus