python-control · bnavigator · Aug 21, 2020 · Aug 20, 2020 · Aug 20, 2020 · Aug 20, 2020
diff --git a/control/grid.py b/control/grid.py
@@ -12,17 +12,20 @@
 class FormatterDMS(object):
     '''Transforms angle ticks to damping ratios'''
     def __call__(self, direction, factor, values):
-        angles_deg = values/factor
+        angles_deg = np.asarray(values)/factor
         damping_ratios = np.cos((180-angles_deg) * np.pi/180)
         ret = ["%.2f" % val for val in damping_ratios]
         return ret
 
 
 class ModifiedExtremeFinderCycle(angle_helper.ExtremeFinderCycle):
-    '''Changed to allow only left hand-side polar grid'''
+    '''Changed to allow only left hand-side polar grid
+
+    https://matplotlib.org/_modules/mpl_toolkits/axisartist/angle_helper.html#ExtremeFinderCycle.__call__
+    '''
     def __call__(self, transform_xy, x1, y1, x2, y2):
-        x_, y_ = np.linspace(x1, x2, self.nx), np.linspace(y1, y2, self.ny)
-        x, y = np.meshgrid(x_, y_)
+        x, y = np.meshgrid(
+            np.linspace(x1, x2, self.nx), np.linspace(y1, y2, self.ny))
         lon, lat = transform_xy(np.ravel(x), np.ravel(y))
 
         with np.errstate(invalid='ignore'):
@@ -31,17 +34,33 @@ def __call__(self, transform_xy, x1, y1, x2, y2):
                 # Changed from 180 to 360 to be able to span only
                 # 90-270 (left hand side)
                 lon -= 360. * ((lon - lon0) > 360.)
-            if self.lat_cycle is not None:
+            if self.lat_cycle is not None:  # pragma: no cover
                 lat0 = np.nanmin(lat)
-                # Changed from 180 to 360 to be able to span only
-                # 90-270 (left hand side)
-                lat -= 360. * ((lat - lat0) > 360.)
+                lat -= 360. * ((lat - lat0) > 180.)
 
         lon_min, lon_max = np.nanmin(lon), np.nanmax(lon)
         lat_min, lat_max = np.nanmin(lat), np.nanmax(lat)
 
         lon_min, lon_max, lat_min, lat_max = \
-            self._adjust_extremes(lon_min, lon_max, lat_min, lat_max)
+            self._add_pad(lon_min, lon_max, lat_min, lat_max)
+
+        # check cycle
+        if self.lon_cycle:
+            lon_max = min(lon_max, lon_min + self.lon_cycle)
+        if self.lat_cycle:  # pragma: no cover
+            lat_max = min(lat_max, lat_min + self.lat_cycle)
+
+        if self.lon_minmax is not None:
+            min0 = self.lon_minmax[0]
+            lon_min = max(min0, lon_min)
+            max0 = self.lon_minmax[1]
+            lon_max = min(max0, lon_max)
+
+        if self.lat_minmax is not None:
+            min0 = self.lat_minmax[0]
+            lat_min = max(min0, lat_min)
+            max0 = self.lat_minmax[1]
+            lat_max = min(max0, lat_max)
 
         return lon_min, lon_max, lat_min, lat_max
 

diff --git a/control/pzmap.py b/control/pzmap.py
@@ -58,7 +58,7 @@
 # TODO: Implement more elegant cross-style axes. See:
 #    http://matplotlib.sourceforge.net/examples/axes_grid/demo_axisline_style.html
 #    http://matplotlib.sourceforge.net/examples/axes_grid/demo_curvelinear_grid.html
-def pzmap(sys, plot=True, grid=False, title='Pole Zero Map', **kwargs):
+def pzmap(sys, plot=None, grid=None, title='Pole Zero Map', **kwargs):
     """
     Plot a pole/zero map for a linear system.
 
@@ -87,8 +87,8 @@ def pzmap(sys, plot=True, grid=False, title='Pole Zero Map', **kwargs):
         plot = kwargs['Plot']
 
     # Get parameter values
-    plot = config._get_param('rlocus', 'plot', plot, True)
-    grid = config._get_param('rlocus', 'grid', grid, False)
+    plot = config._get_param('pzmap', 'plot', plot, True)
+    grid = config._get_param('pzmap', 'grid', grid, False)
 
     if not isinstance(sys, LTI):
         raise TypeError('Argument ``sys``: must be a linear system.')

diff --git a/control/tests/conftest.py b/control/tests/conftest.py
@@ -1,13 +1,39 @@
 # contest.py - pytest local plugins and fixtures
 
-import control
 import os
 
+import matplotlib as mpl
 import pytest
 
+import control
+
 
 @pytest.fixture(scope="session", autouse=True)
 def use_numpy_ndarray():
     """Switch the config to use ndarray instead of matrix"""
     if os.getenv("PYTHON_CONTROL_STATESPACE_ARRAY") == "1":
         control.config.defaults['statesp.use_numpy_matrix'] = False
+
+
+@pytest.fixture(scope="function")
+def editsdefaults():
+    """Make sure any changes to the defaults only last during a test"""
+    restore = control.config.defaults.copy()
+    yield
+    control.config.defaults.update(restore)
+
+
+@pytest.fixture(scope="function")
+def mplcleanup():
+    """Workaround for python2
+
+    python 2 does not like to mix the original mpl decorator with pytest
+    fixtures. So we roll our own.
+    """
+    save = mpl.units.registry.copy()
+    try:
+        yield
+    finally:
+        mpl.units.registry.clear()
+        mpl.units.registry.update(save)
+        mpl.pyplot.close("all")
diff --git a/control/tests/pzmap_test.py b/control/tests/pzmap_test.py
@@ -0,0 +1,89 @@
+# -*- coding: utf-8 -*-
+""" pzmap_test.py - test pzmap()
+
+Created on Thu Aug 20 20:06:21 2020
+
+@author: bnavigator
+"""
+
+import matplotlib
+import numpy as np
+import pytest
+from matplotlib import pyplot as plt
+from mpl_toolkits.axisartist import Axes as mpltAxes
+
+from control import TransferFunction, config, pzmap
+
+
+@pytest.mark.parametrize("kwargs",
+                         [pytest.param(dict(), id="default"),
+                          pytest.param(dict(plot=False), id="plot=False"),
+                          pytest.param(dict(plot=True), id="plot=True"),
+                          pytest.param(dict(grid=True), id="grid=True"),
+                          pytest.param(dict(title="My Title"), id="title")])
+@pytest.mark.parametrize("setdefaults", [False, True], ids=["kw", "config"])
+@pytest.mark.parametrize("dt", [0, 1], ids=["s", "z"])
+def test_pzmap(kwargs, setdefaults, dt, editsdefaults, mplcleanup):
+    """Test pzmap"""
+    # T from from pvtol-nested example
+    T = TransferFunction([-9.0250000e-01, -4.7200750e+01, -8.6812900e+02,
+                          +5.6261850e+03, +2.1258472e+05, +8.4724600e+05,
+                          +1.0192000e+06, +2.3520000e+05],
+                         [9.02500000e-03, 9.92862812e-01, 4.96974094e+01,
+                          1.35705659e+03, 2.09294163e+04, 1.64898435e+05,
+                          6.54572220e+05, 1.25274600e+06, 1.02420000e+06,
+                          2.35200000e+05],
+                         dt)
+
+    Pref = [-23.8877+19.3837j, -23.8877-19.3837j, -23.8349+15.7846j,
+            -23.8349-15.7846j,  -5.2320 +0.4117j,  -5.2320 -0.4117j,
+            -2.2246 +0.0000j,  -1.5160 +0.0000j,  -0.3627 +0.0000j]
+    Zref = [-23.8877+19.3837j, -23.8877-19.3837j, +14.3637 +0.0000j,
+            -14.3637 +0.0000j,  -2.2246 +0.0000j,  -2.0000 +0.0000j,
+            -0.3000 +0.0000j]
+
+    pzkwargs = kwargs.copy()
+    if setdefaults:
+        for k in ['plot', 'grid']:
+            if k in pzkwargs:
+                v = pzkwargs.pop(k)
+                config.set_defaults('pzmap', **{k: v})
+
+    P, Z = pzmap(T, **pzkwargs)
+
+    np.testing.assert_allclose(P, Pref, rtol=1e-3)
+    np.testing.assert_allclose(Z, Zref, rtol=1e-3)
+
+    if kwargs.get('plot', True):
+        ax = plt.gca()
+
+        assert ax.get_title() == kwargs.get('title', 'Pole Zero Map')
+
+        # FIXME: This won't work when zgrid and sgrid are unified
+        children = ax.get_children()
+        has_zgrid = False
+        for c in children:
+            if isinstance(c, matplotlib.text.Annotation):
+                if r'\pi' in c.get_text():
+                    has_zgrid = True
+        has_sgrid = isinstance(ax, mpltAxes)
+
+        if kwargs.get('grid', False):
+            assert dt == has_zgrid
+            assert dt != has_sgrid
+        else:
+            assert not has_zgrid
+            assert not has_sgrid
+    else:
+        assert not plt.get_fignums()
+
+
+def test_pzmap_warns():
+    with pytest.warns(FutureWarning):
+        pzmap(TransferFunction([1], [1, 2]), Plot=True)
+
+
+def test_pzmap_raises():
+    with pytest.raises(TypeError):
+        # not an LTI system
+        pzmap(([1], [1,2]))