python-control · bnavigator · Dec 28, 2020 · Dec 28, 2020 · Dec 28, 2020
diff --git a/control/config.py b/control/config.py
@@ -171,17 +171,45 @@ def use_legacy_defaults(version):
     Parameters
     ----------
     version : string
-        version number of the defaults desired. ranges from '0.1' to '0.8.4'. 
+        Version number of the defaults desired. Ranges from '0.1' to '0.8.4'. 
     """
-    numbers_list = version.split(".")
-    first_digit = int(numbers_list[0])
-    second_digit = int(numbers_list[1].strip('abcdef')) # remove trailing letters
-    if second_digit < 8:
-        # TODO: anything for 0.7 and below if needed
-        pass
-    elif second_digit == 8:
-        if len(version) > 4:
-            third_digit = int(version[4])
-        use_numpy_matrix(True) # alternatively: set_defaults('statesp', use_numpy_matrix=True)
-    else:
-        raise ValueError('''version number not recognized. Possible values range from '0.1' to '0.8.4'.''')
+    import re
+    (major, minor, patch) = (None, None, None)  # default values
+
+    # Early release tag format: REL-0.N
+    match = re.match("REL-0.([12])", version)
+    if match: (major, minor, patch) = (0, int(match.group(1)), 0)
+
+    # Early release tag format: control-0.Np
+    match = re.match("control-0.([3-6])([a-d])", version)
+    if match: (major, minor, patch) = \
+       (0, int(match.group(1)), ord(match.group(2)) - ord('a') + 1)
+
+    # Early release tag format: v0.Np
+    match = re.match("[vV]?0.([3-6])([a-d])", version)
+    if match: (major, minor, patch) = \
+       (0, int(match.group(1)), ord(match.group(2)) - ord('a') + 1)
+
+    # Abbreviated version format: vM.N or M.N
+    match = re.match("([vV]?[0-9]).([0-9])", version)
+    if match: (major, minor, patch) = \
+       (int(match.group(1)), int(match.group(2)), 0)
+
+    # Standard version format: vM.N.P or M.N.P
+    match = re.match("[vV]?([0-9]).([0-9]).([0-9])", version)
+    if match: (major, minor, patch) = \
+        (int(match.group(1)), int(match.group(2)), int(match.group(3)))
+
+    # Make sure we found match
+    if major is None or minor is None:
+        raise ValueError("Version number not recognized. Try M.N.P format.")
+
+    #
+    # Go backwards through releases and reset defaults
+    #
+
+    # Version 0.9.0: switched to 'array' as default for state space objects
+    if major == 0 and minor < 9:
+        set_defaults('statesp', use_numpy_matrix=True)
+
+    return (major, minor, patch)
diff --git a/control/statesp.py b/control/statesp.py
@@ -70,7 +70,7 @@
 
 # Define module default parameter values
 _statesp_defaults = {
-    'statesp.use_numpy_matrix': True,
+    'statesp.use_numpy_matrix': False,  # False is default in 0.9.0 and above
     'statesp.default_dt': None,
     'statesp.remove_useless_states': True,
     }

diff --git a/control/tests/config_test.py b/control/tests/config_test.py
@@ -214,14 +214,28 @@ def test_reset_defaults(self):
     def test_legacy_defaults(self):
         ct.use_legacy_defaults('0.8.3')
         assert(isinstance(ct.ss(0,0,0,1).D, np.matrix))
+
         ct.reset_defaults()
         assert(isinstance(ct.ss(0,0,0,1).D, np.ndarray))
+        assert(not isinstance(ct.ss(0,0,0,1).D, np.matrix))
+
+        ct.use_legacy_defaults('0.9.0')
+        assert(isinstance(ct.ss(0,0,0,1).D, np.ndarray))
+        assert(not isinstance(ct.ss(0,0,0,1).D, np.matrix))
+
         # test that old versions don't raise a problem
+        ct.use_legacy_defaults('REL-0.1')
+        ct.use_legacy_defaults('control-0.3a')
         ct.use_legacy_defaults('0.6c')
         ct.use_legacy_defaults('0.8.2')
         ct.use_legacy_defaults('0.1')
+
+        # Make sure that nonsense versions generate an error
+        self.assertRaises(ValueError, ct.use_legacy_defaults, "a.b.c")
+        self.assertRaises(ValueError, ct.use_legacy_defaults, "1.x.3")
+
+        # Leave everything like we found it
         ct.config.reset_defaults()
-
 
     def test_change_default_dt(self):
         ct.set_defaults('statesp', default_dt=0)

diff --git a/control/tests/modelsimp_test.py → control/tests/modelsimp_matrix_test.py b/control/tests/modelsimp_test.py → control/tests/modelsimp_matrix_test.py
diff --git a/control/tests/robust_test.py → control/tests/robust_matrix_test.py b/control/tests/robust_test.py → control/tests/robust_matrix_test.py
diff --git a/control/tests/statefbk_test.py → control/tests/statefbk_matrix_test.py b/control/tests/statefbk_test.py → control/tests/statefbk_matrix_test.py
diff --git a/control/tests/statesp_test.py → control/tests/statesp_matrix_test.py b/control/tests/statesp_test.py → control/tests/statesp_matrix_test.py