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Apr 12, 2021
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discrete time LaTeX repr of StateSpace systems #609

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0a7cd53
discrete time LaTeX repr of StateSpace systems
bnavigator Apr 11, 2021
89c22c1
use isdtime in StateSpace.__str__()
bnavigator Apr 11, 2021
4608593
print dt=True instead of unspecified
bnavigator Apr 11, 2021
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37 changes: 23 additions & 14 deletions control/statesp.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -391,11 +391,8 @@ def __str__(self):
"\n ".join(str(M).splitlines()))
for Mvar, M in zip(["A", "B", "C", "D"],
[self.A, self.B, self.C, self.D])])
# TODO: replace with standard calls to lti functions
if (type(self.dt) == bool and self.dt is True):
string += "\ndt unspecified\n"
elif (not (self.dt is None) and type(self.dt) != bool and self.dt > 0):
string += "\ndt = " + self.dt.__str__() + "\n"
if self.isdtime(strict=True):
string += f"\ndt = {self.dt}\n"
return string

# represent to implement a re-loadable version
Expand All @@ -418,8 +415,8 @@ def _latex_partitioned_stateless(self):
"""
lines = [
r'\[',
r'\left(',
(r'\begin{array}'
(r'\left('
+ r'\begin{array}'
+ r'{' + 'rll' * self.ninputs + '}')
]

Expand All @@ -429,7 +426,8 @@ def _latex_partitioned_stateless(self):

lines.extend([
r'\end{array}'
r'\right)',
r'\right)'
+ self._latex_dt(),
r'\]'])

return '\n'.join(lines)
Expand All @@ -449,8 +447,8 @@ def _latex_partitioned(self):

lines = [
r'\[',
r'\left(',
(r'\begin{array}'
(r'\left('
+ r'\begin{array}'
+ r'{' + 'rll' * self.nstates + '|' + 'rll' * self.ninputs + '}')
]

Expand All @@ -466,7 +464,8 @@ def _latex_partitioned(self):

lines.extend([
r'\end{array}'
r'\right)',
+ r'\right)'
+ self._latex_dt(),
r'\]'])

return '\n'.join(lines)
Expand Down Expand Up @@ -509,11 +508,21 @@ def fmt_matrix(matrix, name):
lines.extend(fmt_matrix(self.D, 'D'))

lines.extend([
r'\end{array}',
r'\end{array}'
+ self._latex_dt(),
r'\]'])

return '\n'.join(lines)

def _latex_dt(self):
if self.isdtime(strict=True):
if self.dt is True:
return r"~,~dt=~\mathrm{True}"
else:
fmt = config.defaults['statesp.latex_num_format']
return f"~,~dt={self.dt:{fmt}}"
return ""

def _repr_latex_(self):
"""LaTeX representation of state-space model

Expand All @@ -534,9 +543,9 @@ def _repr_latex_(self):
elif config.defaults['statesp.latex_repr_type'] == 'separate':
return self._latex_separate()
else:
cfg = config.defaults['statesp.latex_repr_type']
raise ValueError(
"Unknown statesp.latex_repr_type '{cfg}'".format(cfg=cfg))
"Unknown statesp.latex_repr_type '{cfg}'".format(
cfg=config.defaults['statesp.latex_repr_type']))

# Negation of a system
def __neg__(self):
Expand Down
25 changes: 16 additions & 9 deletions control/tests/statesp_test.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -743,9 +743,9 @@ def test_str(self, sys322):
" [ 0. 1.]]\n")
assert str(tsys) == tref
tsysdtunspec = StateSpace(tsys.A, tsys.B, tsys.C, tsys.D, True)
assert str(tsysdtunspec) == tref + "\ndt unspecified\n"
assert str(tsysdtunspec) == tref + "\ndt = True\n"
sysdt1 = StateSpace(tsys.A, tsys.B, tsys.C, tsys.D, 1.)
assert str(sysdt1) == tref + "\ndt = 1.0\n"
assert str(sysdt1) == tref + "\ndt = {}\n".format(1.)

def test_pole_static(self):
"""Regression: pole() of static gain is empty array."""
Expand Down Expand Up @@ -997,19 +997,19 @@ def test_statespace_defaults(self, matarrayout):
[[1.2345, -2e-200], [-1, 0]])

LTX_G1_REF = {
'p3_p' : '\\[\n\\left(\n\\begin{array}{rllrll|rll}\n3.&\\hspace{-1em}14&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n-1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\hline\n9.&\\hspace{-1em}88&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}00123&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
'p3_p' : '\\[\n\\left(\\begin{array}{rllrll|rll}\n3.&\\hspace{-1em}14&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n-1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\hline\n9.&\\hspace{-1em}88&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}00123&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',

'p5_p' : '\\[\n\\left(\n\\begin{array}{rllrll|rll}\n3.&\\hspace{-1em}1416&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n-1.&\\hspace{-1em}2346&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\hline\n9.&\\hspace{-1em}8765&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}001234&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
'p5_p' : '\\[\n\\left(\\begin{array}{rllrll|rll}\n3.&\\hspace{-1em}1416&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n-1.&\\hspace{-1em}2346&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\hline\n9.&\\hspace{-1em}8765&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}001234&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',

'p3_s' : '\\[\n\\begin{array}{ll}\nA = \\left(\\begin{array}{rllrll}\n3.&\\hspace{-1em}14&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}\\\\\n-1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}\\\\\n\\end{array}\\right)\n&\nB = \\left(\\begin{array}{rll}\n0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\\\\nC = \\left(\\begin{array}{rllrll}\n9.&\\hspace{-1em}88&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}00123&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n&\nD = \\left(\\begin{array}{rll}\n5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n\\]',

'p5_s' : '\\[\n\\begin{array}{ll}\nA = \\left(\\begin{array}{rllrll}\n3.&\\hspace{-1em}1416&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}\\\\\n-1.&\\hspace{-1em}2346&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}\\\\\n\\end{array}\\right)\n&\nB = \\left(\\begin{array}{rll}\n0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\\\\nC = \\left(\\begin{array}{rllrll}\n9.&\\hspace{-1em}8765&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}001234&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n&\nD = \\left(\\begin{array}{rll}\n5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n\\]',
}

LTX_G2_REF = {
'p3_p' : '\\[\n\\left(\n\\begin{array}{rllrll}\n1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
'p3_p' : '\\[\n\\left(\\begin{array}{rllrll}\n1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',

'p5_p' : '\\[\n\\left(\n\\begin{array}{rllrll}\n1.&\\hspace{-1em}2345&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
'p5_p' : '\\[\n\\left(\\begin{array}{rllrll}\n1.&\\hspace{-1em}2345&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',

'p3_s' : '\\[\n\\begin{array}{ll}\nD = \\left(\\begin{array}{rllrll}\n1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n\\]',

Expand All @@ -1022,9 +1022,14 @@ def test_statespace_defaults(self, matarrayout):
@pytest.mark.parametrize(" gmats, ref",
[(LTX_G1, LTX_G1_REF),
(LTX_G2, LTX_G2_REF)])
@pytest.mark.parametrize("dt, dtref",
[(0, ""),
(None, ""),
(True, r"~,~dt=~\mathrm{{True}}"),
(0.1, r"~,~dt={dt:{fmt}}")])
@pytest.mark.parametrize("repr_type", [None, "partitioned", "separate"])
@pytest.mark.parametrize("num_format", [None, ".3g", ".5g"])
def test_latex_repr(gmats, ref, repr_type, num_format, editsdefaults):
def test_latex_repr(gmats, ref, dt, dtref, repr_type, num_format, editsdefaults):
"""Test `._latex_repr_` with different config values

This is a 'gold image' test, so if you change behaviour,
Expand All @@ -1040,9 +1045,11 @@ def test_latex_repr(gmats, ref, repr_type, num_format, editsdefaults):
if repr_type is not None:
set_defaults('statesp', latex_repr_type=repr_type)

g = StateSpace(*gmats)
g = StateSpace(*(gmats+(dt,)))
refkey = "{}_{}".format(refkey_n[num_format], refkey_r[repr_type])
assert g._repr_latex_() == ref[refkey]
dt_latex = dtref.format(dt=dt, fmt=defaults['statesp.latex_num_format'])
ref_latex = ref[refkey][:-3] + dt_latex + ref[refkey][-3:]
assert g._repr_latex_() == ref_latex


@pytest.mark.parametrize(
Expand Down