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rename is_static_gain method in LTI systems to _isstatic #524

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Merged
merged 1 commit into from
Feb 5, 2021
Merged

rename is_static_gain method in LTI systems to _isstatic #524

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6 changes: 3 additions & 3 deletions control/statesp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -288,7 +288,7 @@ def __init__(self, *args, **kwargs):
if len(args) == 4:
if 'dt' in kwargs:
dt = kwargs['dt']
elif self.is_static_gain():
elif self._isstatic():
dt = None
else:
dt = config.defaults['control.default_dt']
Expand All @@ -300,7 +300,7 @@ def __init__(self, *args, **kwargs):
try:
dt = args[0].dt
except AttributeError:
if self.is_static_gain():
if self._isstatic():
dt = None
else:
dt = config.defaults['control.default_dt']
Expand Down Expand Up @@ -1213,7 +1213,7 @@ def dcgain(self):
gain = np.tile(np.nan, (self.noutputs, self.ninputs))
return np.squeeze(gain)

def is_static_gain(self):
def _isstatic(self):
"""True if and only if the system has no dynamics, that is,
if A and B are zero. """
return not np.any(self.A) and not np.any(self.B)
Expand Down
16 changes: 8 additions & 8 deletions control/tests/statesp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -383,7 +383,7 @@ def test_freq_resp(self):
mag, phase, omega = sys.freqresp(true_omega)
np.testing.assert_almost_equal(mag, true_mag)

def test_is_static_gain(self):
def test__isstatic(self):
A0 = np.zeros((2,2))
A1 = A0.copy()
A1[0,1] = 1.1
Expand All @@ -394,13 +394,13 @@ def test_is_static_gain(self):
C1 = np.eye(2)
D0 = 0
D1 = np.ones((2,1))
assert StateSpace(A0, B0, C1, D1).is_static_gain()
assert not StateSpace(A1, B0, C1, D1).is_static_gain()
assert not StateSpace(A0, B1, C1, D1).is_static_gain()
assert not StateSpace(A1, B1, C1, D1).is_static_gain()
assert StateSpace(A0, B0, C0, D0).is_static_gain()
assert StateSpace(A0, B0, C0, D1).is_static_gain()
assert StateSpace(A0, B0, C1, D0).is_static_gain()
assert StateSpace(A0, B0, C1, D1)._isstatic()
assert not StateSpace(A1, B0, C1, D1)._isstatic()
assert not StateSpace(A0, B1, C1, D1)._isstatic()
assert not StateSpace(A1, B1, C1, D1)._isstatic()
assert StateSpace(A0, B0, C0, D0)._isstatic()
assert StateSpace(A0, B0, C0, D1)._isstatic()
assert StateSpace(A0, B0, C1, D0)._isstatic()

@slycotonly
def test_minreal(self):
Expand Down
18 changes: 9 additions & 9 deletions control/tests/xferfcn_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -406,7 +406,7 @@ def test_slice(self):
assert (sys1.ninputs, sys1.noutputs) == (2, 1)
assert sys1.dt == 0.5

def test_is_static_gain(self):
def test__isstatic(self):
numstatic = 1.1
denstatic = 1.2
numdynamic = [1, 1]
Expand All @@ -415,18 +415,18 @@ def test_is_static_gain(self):
denstaticmimo = [[[1.9,], [1.2,]], [[1.2,], [0.8,]]]
numdynamicmimo = [[[1.1, 0.9], [1.2]], [[1.2], [0.8]]]
dendynamicmimo = [[[1.1, 0.7], [0.2]], [[1.2], [0.8]]]
assert TransferFunction(numstatic, denstatic).is_static_gain()
assert TransferFunction(numstaticmimo, denstaticmimo).is_static_gain()
assert TransferFunction(numstatic, denstatic)._isstatic()
assert TransferFunction(numstaticmimo, denstaticmimo)._isstatic()

assert not TransferFunction(numstatic, dendynamic).is_static_gain()
assert not TransferFunction(numdynamic, dendynamic).is_static_gain()
assert not TransferFunction(numdynamic, denstatic).is_static_gain()
assert not TransferFunction(numstatic, dendynamic).is_static_gain()
assert not TransferFunction(numstatic, dendynamic)._isstatic()
assert not TransferFunction(numdynamic, dendynamic)._isstatic()
assert not TransferFunction(numdynamic, denstatic)._isstatic()
assert not TransferFunction(numstatic, dendynamic)._isstatic()

assert not TransferFunction(numstaticmimo,
dendynamicmimo).is_static_gain()
dendynamicmimo)._isstatic()
assert not TransferFunction(numdynamicmimo,
denstaticmimo).is_static_gain()
denstaticmimo)._isstatic()

@pytest.mark.parametrize("omega, resp",
[(1, np.array([[-0.5 - 0.5j]])),
Expand Down
2 changes: 1 addition & 1 deletion control/timeresp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1122,7 +1122,7 @@ def _ideal_tfinal_and_dt(sys, is_step=True):
pts_per_cycle = 25 # Number of points divide a period of oscillation
log_decay_percent = np.log(100) # Factor of reduction for real pole decays

if sys.is_static_gain():
if sys._isstatic():
tfinal = default_tfinal
dt = sys.dt if isdtime(sys, strict=True) else default_dt
elif isdtime(sys, strict=True):
Expand Down
6 changes: 3 additions & 3 deletions control/xferfcn.py
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Original file line number Diff line number Diff line change
Expand Up @@ -214,7 +214,7 @@ def __init__(self, *args, **kwargs):
# no dt given in positional arguments
if 'dt' in kwargs:
dt = kwargs['dt']
elif self.is_static_gain():
elif self._isstatic():
dt = None
else:
dt = config.defaults['control.default_dt']
Expand All @@ -228,7 +228,7 @@ def __init__(self, *args, **kwargs):
try:
dt = args[0].dt
except AttributeError:
if self.is_static_gain():
if self._isstatic():
dt = None
else:
dt = config.defaults['control.default_dt']
Expand Down Expand Up @@ -1084,7 +1084,7 @@ def _dcgain_cont(self):
gain[i][j] = np.nan
return np.squeeze(gain)

def is_static_gain(self):
def _isstatic(self):
"""returns True if and only if all of the numerator and denominator
polynomials of the (possibly MIMO) transfer function are zeroth order,
that is, if the system has no dynamics. """
Expand Down