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Fix: don't called deprecated Matplotlib functions find and frange #262

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Merged
merged 3 commits into from
Jan 4, 2019
Merged

Fix: don't called deprecated Matplotlib functions find and frange #262

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77babe9
Fix: handle MatplotlibDeprecationWarning for mlab.find and .frange
roryyorke Jan 1, 2019
389ebb4
Fix: actually plot vector field for X, Y argument option.
roryyorke Jan 1, 2019
9e41ae7
Fix: remove hold calls; minor other mods
roryyorke Jan 1, 2019
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34 changes: 22 additions & 12 deletions control/phaseplot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -39,12 +39,20 @@

import numpy as np
import matplotlib.pyplot as mpl
from matplotlib.mlab import frange, find

from scipy.integrate import odeint
from .exception import ControlNotImplemented

__all__ = ['phase_plot', 'box_grid']


def _find(condition):
"""Returns indices where ravel(a) is true.
Private implementation of deprecated matplotlib.mlab.find
"""
return np.nonzero(np.ravel(condition))[0]


def phase_plot(odefun, X=None, Y=None, scale=1, X0=None, T=None,
lingrid=None, lintime=None, logtime=None, timepts=None,
parms=(), verbose=True):
Expand All @@ -70,11 +78,11 @@ def phase_plot(odefun, X=None, Y=None, scale=1, X0=None, T=None,
dxdt = F(x, t) that accepts a state x of dimension 2 and
returns a derivative dx/dt of dimension 2.

X, Y: ndarray, optional
Two 1-D arrays representing x and y coordinates of a grid.
These arguments are passed to meshgrid and generate the lists
of points at which the vector field is plotted. If absent (or
None), the vector field is not plotted.
X, Y: 3-element sequences, optional, as [start, stop, npts]
Two 3-element sequences specifying x and y coordinates of a
grid. These arguments are passed to linspace and meshgrid to
generate the points at which the vector field is plotted. If
absent (or None), the vector field is not plotted.

scale: float, optional
Scale size of arrows; default = 1
Expand Down Expand Up @@ -145,8 +153,10 @@ def phase_plot(odefun, X=None, Y=None, scale=1, X0=None, T=None,
#! TODO: Add sanity checks
elif (X is not None and Y is not None):
(x1, x2) = np.meshgrid(
frange(X[0], X[1], float(X[1]-X[0])/X[2]),
frange(Y[0], Y[1], float(Y[1]-Y[0])/Y[2]));
np.linspace(X[0], X[1], X[2]),
np.linspace(Y[0], Y[1], Y[2]))
Narrows = len(x1)

else:
# If we weren't given any grid points, don't plot arrows
Narrows = 0;
Expand Down Expand Up @@ -234,12 +244,12 @@ def phase_plot(odefun, X=None, Y=None, scale=1, X0=None, T=None,
elif (logtimeFlag):
# Use an exponential time vector
# MATLAB: tind = find(time < (j-k) / lambda, 1, 'last');
tarr = find(time < (j-k) / timefactor);
tarr = _find(time < (j-k) / timefactor);
tind = tarr[-1] if len(tarr) else 0;
elif (timeptsFlag):
# Use specified time points
# MATLAB: tind = find(time < Y[j], 1, 'last');
tarr = find(time < timepts[j]);
tarr = _find(time < timepts[j]);
tind = tarr[-1] if len(tarr) else 0;

# For tailless arrows, skip the first point
Expand Down Expand Up @@ -295,8 +305,8 @@ def box_grid(xlimp, ylimp):
box defined by the corners [xmin ymin] and [xmax ymax].
"""

sx10 = frange(xlimp[0], xlimp[1], float(xlimp[1]-xlimp[0])/xlimp[2])
sy10 = frange(ylimp[0], ylimp[1], float(ylimp[1]-ylimp[0])/ylimp[2])
sx10 = np.linspace(xlimp[0], xlimp[1], xlimp[2])
sy10 = np.linspace(ylimp[0], ylimp[1], ylimp[2])

sx1 = np.hstack((0, sx10, 0*sy10+sx10[0], sx10, 0*sy10+sx10[-1]))
sx2 = np.hstack((0, 0*sx10+sy10[0], sy10, 0*sx10+sy10[-1], sy10))
Expand Down
3 changes: 1 addition & 2 deletions examples/genswitch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,6 @@
import numpy as np
import matplotlib.pyplot as mpl
from scipy.integrate import odeint
from matplotlib.mlab import frange
from control import phase_plot, box_grid

# Simple model of a genetic switch
Expand All @@ -34,7 +33,7 @@ def genswitch(y, t, mu=4, n=2):
sol2 = odeint(genswitch, sol1[-1,:] + [2, -2], tim2)

# First plot out the curves that define the equilibria
u = frange(0, 4.5, 0.1)
u = np.linspace(0, 4.5, 46)
f = np.divide(mu, (1 + u**n)) # mu / (1 + u^n), elementwise

mpl.figure(1); mpl.clf();
Expand Down
31 changes: 16 additions & 15 deletions examples/phaseplots.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ def invpend_ode(x, t, m=1., l=1., b=0.2, g=1):
# Set up the figure the way we want it to look
mpl.figure(); mpl.clf();
mpl.axis([-2*pi, 2*pi, -2.1, 2.1]);
mpl.title('Inverted pendlum')
mpl.title('Inverted pendulum')

# Outer trajectories
phase_plot(invpend_ode,
Expand All @@ -35,9 +35,7 @@ def invpend_ode(x, t, m=1., l=1., b=0.2, g=1):
logtime = (3, 0.7) )

# Separatrices
mpl.hold(True);
phase_plot(invpend_ode, X0 = [[-2.3056, 2.1], [2.3056, -2.1]], T=6, lingrid=0)
mpl.show();

#
# Systems of ODEs: damped oscillator example (simulation + phase portrait)
Expand All @@ -49,9 +47,10 @@ def oscillator_ode(x, t, m=1., b=1, k=1):
# Generate a vector plot for the damped oscillator
mpl.figure(); mpl.clf();
phase_plot(oscillator_ode, [-1, 1, 10], [-1, 1, 10], 0.15);
mpl.hold(True); mpl.plot([0], [0], '.');
#mpl.plot([0], [0], '.');
# a=gca; set(a,'FontSize',20); set(a,'DataAspectRatio',[1,1,1]);
mpl.xlabel('x1'); mpl.ylabel('x2');
mpl.xlabel('$x_1$'); mpl.ylabel('$x_2$');
mpl.title('Damped oscillator, vector field')

# Generate a phase plot for the damped oscillator
mpl.figure(); mpl.clf();
Expand All @@ -61,11 +60,10 @@ def oscillator_ode(x, t, m=1., b=1, k=1):
[-1, 1], [-0.3, 1], [0, 1], [0.25, 1], [0.5, 1], [0.75, 1], [1, 1],
[1, -1], [0.3, -1], [0, -1], [-0.25, -1], [-0.5, -1], [-0.75, -1], [-1, -1]
], T = np.linspace(0, 8, 80), timepts = [0.25, 0.8, 2, 3])
mpl.hold(True); mpl.plot([0], [0], 'k.'); # 'MarkerSize', AM_data_markersize*3);
mpl.plot([0], [0], 'k.'); # 'MarkerSize', AM_data_markersize*3);
# set(gca,'DataAspectRatio',[1,1,1]);
mpl.xlabel('x1'); mpl.ylabel('x2');

mpl.show()
mpl.xlabel('$x_1$'); mpl.ylabel('$x_2$');
mpl.title('Damped oscillator, vector field and stream lines')

#
# Stability definitions
Expand All @@ -88,9 +86,10 @@ def saddle_ode(x, t):
[-1.3,-1]
], T = np.linspace(0, 10, 100),
timepts = [0.3, 1, 2, 3], parms = (m, b, k));
mpl.hold(True); mpl.plot([0], [0], 'k.'); # 'MarkerSize', AM_data_markersize*3);
mpl.plot([0], [0], 'k.'); # 'MarkerSize', AM_data_markersize*3);
# set(gca,'FontSize', 16);
mpl.xlabel('{\itx}_1'); mpl.ylabel('{\itx}_2');
mpl.xlabel('$x_1$'); mpl.ylabel('$x_2$');
mpl.title('Asymptotically stable point')

# Saddle
mpl.figure(); mpl.clf();
Expand All @@ -103,9 +102,10 @@ def saddle_ode(x, t):
[0.95, 1], [0.9, 1], [0.8, 1], [0.6, 1], [0.4, 1], [0.2, 1],
[-0.5, -0.45], [-0.45, -0.5], [0.5, 0.45], [0.45, 0.5],
[-0.04, 0.04], [0.04, -0.04] ], T = np.linspace(0, 2, 20));
mpl.hold(True); mpl.plot([0], [0], 'k.'); # 'MarkerSize', AM_data_markersize*3);
mpl.plot([0], [0], 'k.'); # 'MarkerSize', AM_data_markersize*3);
# set(gca,'FontSize', 16);
mpl.xlabel('{\itx}_1'); mpl.ylabel('{\itx}_2');
mpl.xlabel('$x_1$'); mpl.ylabel('$x_2$');
mpl.title('Saddle point')

# Stable isL
m = 1; b = 0; k = 1; # zero damping
Expand All @@ -115,8 +115,9 @@ def saddle_ode(x, t):
[pi/6, pi/3, pi/2, 2*pi/3, 5*pi/6, pi, 7*pi/6, 4*pi/3, 9*pi/6, 5*pi/3, 11*pi/6, 2*pi],
X0 = [ [0.2,0], [0.4,0], [0.6,0], [0.8,0], [1,0], [1.2,0], [1.4,0] ],
T = np.linspace(0, 20, 200), parms = (m, b, k));
mpl.hold(True); mpl.plot([0], [0], 'k.') # 'MarkerSize', AM_data_markersize*3);
mpl.plot([0], [0], 'k.') # 'MarkerSize', AM_data_markersize*3);
# set(gca,'FontSize', 16);
mpl.xlabel('{\itx}_1'); mpl.ylabel('{\itx}_2');
mpl.xlabel('$x_1$'); mpl.ylabel('$x_2$');
mpl.title('Undamped system\nLyapunov stable, not asympt. stable')

mpl.show()