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Apr 29, 2021
Merged

allow float precision in result assertions #615

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e3b964b
allow float precision in test_damp
bnavigator Apr 24, 2021
13f2ce1
replace more assert_equal comparing possible float results
bnavigator Apr 24, 2021
8a56d67
replace assert_array_equal comparing possible float results
bnavigator Apr 24, 2021
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16 changes: 7 additions & 9 deletions control/tests/convert_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -184,9 +184,7 @@ def testTf2ssStaticSiso(self):
assert 0 == gsiso.nstates
assert 1 == gsiso.ninputs
assert 1 == gsiso.noutputs
# in all cases ratios are exactly representable, so assert_array_equal
# is fine
np.testing.assert_array_equal([[0.5]], gsiso.D)
np.testing.assert_allclose([[0.5]], gsiso.D)

def testTf2ssStaticMimo(self):
"""Regression: tf2ss for MIMO static gain"""
Expand All @@ -198,13 +196,13 @@ def testTf2ssStaticMimo(self):
assert 3 == gmimo.ninputs
assert 2 == gmimo.noutputs
d = np.array([[0.5, 30, 0.0625], [-0.5, -1.25, 101.3]])
np.testing.assert_array_equal(d, gmimo.D)
np.testing.assert_allclose(d, gmimo.D)

def testSs2tfStaticSiso(self):
"""Regression: ss2tf for SISO static gain"""
gsiso = ss2tf(ss([], [], [], 0.5))
np.testing.assert_array_equal([[[0.5]]], gsiso.num)
np.testing.assert_array_equal([[[1.]]], gsiso.den)
np.testing.assert_allclose([[[0.5]]], gsiso.num)
np.testing.assert_allclose([[[1.]]], gsiso.den)

def testSs2tfStaticMimo(self):
"""Regression: ss2tf for MIMO static gain"""
Expand All @@ -217,8 +215,8 @@ def testSs2tfStaticMimo(self):

# we need a 3x2x1 array to compare with gtf.num
numref = d[..., np.newaxis]
np.testing.assert_array_equal(numref,
np.array(gtf.num) / np.array(gtf.den))
np.testing.assert_allclose(numref,
np.array(gtf.num) / np.array(gtf.den))

@slycotonly
def testTf2SsDuplicatePoles(self):
Expand All @@ -229,7 +227,7 @@ def testTf2SsDuplicatePoles(self):
[[1], [1, 0]]]
g = tf(num, den)
s = ss(g)
np.testing.assert_array_equal(g.pole(), s.pole())
np.testing.assert_allclose(g.pole(), s.pole())

@slycotonly
def test_tf2ss_robustness(self):
Expand Down
12 changes: 6 additions & 6 deletions control/tests/descfcn_test.py
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Expand Up @@ -53,26 +53,26 @@ def test_static_nonlinear_call(satsys):
input = [-2, -1, -0.5, 0, 0.5, 1, 2]
desired = [-1, -1, -0.5, 0, 0.5, 1, 1]
for x, y in zip(input, desired):
assert satsys(x) == y
np.testing.assert_allclose(satsys(x), y)

# Test squeeze properties
assert satsys(0.) == 0.
assert satsys([0.], squeeze=True) == 0.
np.testing.assert_array_equal(satsys([0.]), [0.])
np.testing.assert_allclose(satsys([0.]), [0.])

# Test SIMO nonlinearity
def _simofcn(t, x, u, params):
return np.array([np.cos(u), np.sin(u)])
simo_sys = ct.NonlinearIOSystem(None, outfcn=_simofcn, input=1, output=2)
np.testing.assert_array_equal(simo_sys([0.]), [1, 0])
np.testing.assert_array_equal(simo_sys([0.], squeeze=True), [1, 0])
np.testing.assert_allclose(simo_sys([0.]), [1, 0])
np.testing.assert_allclose(simo_sys([0.], squeeze=True), [1, 0])

# Test MISO nonlinearity
def _misofcn(t, x, u, params={}):
return np.array([np.sin(u[0]) * np.cos(u[1])])
miso_sys = ct.NonlinearIOSystem(None, outfcn=_misofcn, input=2, output=1)
np.testing.assert_array_equal(miso_sys([0, 0]), [0])
np.testing.assert_array_equal(miso_sys([0, 0], squeeze=True), [0])
np.testing.assert_allclose(miso_sys([0, 0]), [0])
np.testing.assert_allclose(miso_sys([0, 0], squeeze=True), [0])


# Test saturation describing function in multiple ways
Expand Down
10 changes: 5 additions & 5 deletions control/tests/interconnect_test.py
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Expand Up @@ -36,10 +36,10 @@ def test_summing_junction(inputs, output, dimension, D):
sum = ct.summing_junction(
inputs=inputs, output=output, dimension=dimension)
dim = 1 if dimension is None else dimension
np.testing.assert_array_equal(sum.A, np.ndarray((0, 0)))
np.testing.assert_array_equal(sum.B, np.ndarray((0, ninputs*dim)))
np.testing.assert_array_equal(sum.C, np.ndarray((dim, 0)))
np.testing.assert_array_equal(sum.D, D)
np.testing.assert_allclose(sum.A, np.ndarray((0, 0)))
np.testing.assert_allclose(sum.B, np.ndarray((0, ninputs*dim)))
np.testing.assert_allclose(sum.C, np.ndarray((dim, 0)))
np.testing.assert_allclose(sum.D, D)


def test_summation_exceptions():
Expand Down Expand Up @@ -96,7 +96,7 @@ def test_interconnect_implicit():
# Setting connections to False should lead to an empty connection map
empty = ct.interconnect(
(C, P, sumblk), connections=False, inplist=['r'], outlist=['y'])
np.testing.assert_array_equal(empty.connect_map, np.zeros((4, 3)))
np.testing.assert_allclose(empty.connect_map, np.zeros((4, 3)))

# Implicit summation across repeated signals
kp_io = ct.tf2io(kp, inputs='e', outputs='u', name='kp')
Expand Down
56 changes: 28 additions & 28 deletions control/tests/iosys_test.py
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Expand Up @@ -89,10 +89,10 @@ def test_ss2io(self, tsys):
# Create an input/output system from the linear system
linsys = tsys.siso_linsys
iosys = ct.ss2io(linsys)
np.testing.assert_array_equal(linsys.A, iosys.A)
np.testing.assert_array_equal(linsys.B, iosys.B)
np.testing.assert_array_equal(linsys.C, iosys.C)
np.testing.assert_array_equal(linsys.D, iosys.D)
np.testing.assert_allclose(linsys.A, iosys.A)
np.testing.assert_allclose(linsys.B, iosys.B)
np.testing.assert_allclose(linsys.C, iosys.C)
np.testing.assert_allclose(linsys.D, iosys.D)

# Try adding names to things
iosys_named = ct.ss2io(linsys, inputs='u', outputs='y',
Expand All @@ -104,10 +104,10 @@ def test_ss2io(self, tsys):
assert iosys_named.find_state('x0') is None
assert iosys_named.find_state('x1') == 0
assert iosys_named.find_state('x2') == 1
np.testing.assert_array_equal(linsys.A, iosys_named.A)
np.testing.assert_array_equal(linsys.B, iosys_named.B)
np.testing.assert_array_equal(linsys.C, iosys_named.C)
np.testing.assert_array_equal(linsys.D, iosys_named.D)
np.testing.assert_allclose(linsys.A, iosys_named.A)
np.testing.assert_allclose(linsys.B, iosys_named.B)
np.testing.assert_allclose(linsys.C, iosys_named.C)
np.testing.assert_allclose(linsys.D, iosys_named.D)

def test_iosys_unspecified(self, tsys):
"""System with unspecified inputs and outputs"""
Expand Down Expand Up @@ -1132,14 +1132,14 @@ def test_lineariosys_statespace(self, tsys):
assert isinstance(iosys_siso, ct.StateSpace)

# Make sure that state space functions work for LinearIOSystems
np.testing.assert_array_equal(
np.testing.assert_allclose(
iosys_siso.pole(), tsys.siso_linsys.pole())
omega = np.logspace(.1, 10, 100)
mag_io, phase_io, omega_io = iosys_siso.frequency_response(omega)
mag_ss, phase_ss, omega_ss = tsys.siso_linsys.frequency_response(omega)
np.testing.assert_array_equal(mag_io, mag_ss)
np.testing.assert_array_equal(phase_io, phase_ss)
np.testing.assert_array_equal(omega_io, omega_ss)
np.testing.assert_allclose(mag_io, mag_ss)
np.testing.assert_allclose(phase_io, phase_ss)
np.testing.assert_allclose(omega_io, omega_ss)

# LinearIOSystem methods should override StateSpace methods
io_mul = iosys_siso * iosys_siso2
Expand All @@ -1150,19 +1150,19 @@ def test_lineariosys_statespace(self, tsys):

# And make sure the systems match
ss_series = tsys.siso_linsys * tsys.siso_linsys
np.testing.assert_array_equal(io_mul.A, ss_series.A)
np.testing.assert_array_equal(io_mul.B, ss_series.B)
np.testing.assert_array_equal(io_mul.C, ss_series.C)
np.testing.assert_array_equal(io_mul.D, ss_series.D)
np.testing.assert_allclose(io_mul.A, ss_series.A)
np.testing.assert_allclose(io_mul.B, ss_series.B)
np.testing.assert_allclose(io_mul.C, ss_series.C)
np.testing.assert_allclose(io_mul.D, ss_series.D)

# Make sure that series does the same thing
io_series = ct.series(iosys_siso, iosys_siso2)
assert isinstance(io_series, ct.InputOutputSystem)
assert isinstance(io_series, ct.StateSpace)
np.testing.assert_array_equal(io_series.A, ss_series.A)
np.testing.assert_array_equal(io_series.B, ss_series.B)
np.testing.assert_array_equal(io_series.C, ss_series.C)
np.testing.assert_array_equal(io_series.D, ss_series.D)
np.testing.assert_allclose(io_series.A, ss_series.A)
np.testing.assert_allclose(io_series.B, ss_series.B)
np.testing.assert_allclose(io_series.C, ss_series.C)
np.testing.assert_allclose(io_series.D, ss_series.D)

# Test out feedback as well
io_feedback = ct.feedback(iosys_siso, iosys_siso2)
Expand All @@ -1173,10 +1173,10 @@ def test_lineariosys_statespace(self, tsys):

# And make sure the systems match
ss_feedback = ct.feedback(tsys.siso_linsys, tsys.siso_linsys)
np.testing.assert_array_equal(io_feedback.A, ss_feedback.A)
np.testing.assert_array_equal(io_feedback.B, ss_feedback.B)
np.testing.assert_array_equal(io_feedback.C, ss_feedback.C)
np.testing.assert_array_equal(io_feedback.D, ss_feedback.D)
np.testing.assert_allclose(io_feedback.A, ss_feedback.A)
np.testing.assert_allclose(io_feedback.B, ss_feedback.B)
np.testing.assert_allclose(io_feedback.C, ss_feedback.C)
np.testing.assert_allclose(io_feedback.D, ss_feedback.D)

# Make sure series interconnections are done in the right order
ss_sys1 = ct.rss(2, 3, 2)
Expand All @@ -1190,10 +1190,10 @@ def test_lineariosys_statespace(self, tsys):

# While we are at it, check that the state space matrices match
ss_series = ss_sys2 * ss_sys1
np.testing.assert_array_equal(io_series.A, ss_series.A)
np.testing.assert_array_equal(io_series.B, ss_series.B)
np.testing.assert_array_equal(io_series.C, ss_series.C)
np.testing.assert_array_equal(io_series.D, ss_series.D)
np.testing.assert_allclose(io_series.A, ss_series.A)
np.testing.assert_allclose(io_series.B, ss_series.B)
np.testing.assert_allclose(io_series.C, ss_series.C)
np.testing.assert_allclose(io_series.D, ss_series.D)

def test_docstring_example(self):
P = ct.LinearIOSystem(
Expand Down
16 changes: 8 additions & 8 deletions control/tests/lti_test.py
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Expand Up @@ -15,13 +15,13 @@ class TestLTI:

def test_pole(self):
sys = tf(126, [-1, 42])
np.testing.assert_equal(sys.pole(), 42)
np.testing.assert_equal(pole(sys), 42)
np.testing.assert_allclose(sys.pole(), 42)
np.testing.assert_allclose(pole(sys), 42)

def test_zero(self):
sys = tf([-1, 42], [1, 10])
np.testing.assert_equal(sys.zero(), 42)
np.testing.assert_equal(zero(sys), 42)
np.testing.assert_allclose(sys.zero(), 42)
np.testing.assert_allclose(zero(sys), 42)

def test_issiso(self):
assert issiso(1)
Expand Down Expand Up @@ -58,8 +58,8 @@ def test_damp(self):
p = -wn * zeta + 1j * wn * np.sqrt(1 - zeta**2)
sys = tf(1, [1, 2 * zeta * wn, wn**2])
expected = ([wn, wn], [zeta, zeta], [p, p.conjugate()])
np.testing.assert_equal(sys.damp(), expected)
np.testing.assert_equal(damp(sys), expected)
np.testing.assert_allclose(sys.damp(), expected)
np.testing.assert_allclose(damp(sys), expected)

# Also test the discrete time case.
dt = 0.001
Expand All @@ -72,8 +72,8 @@ def test_damp(self):

def test_dcgain(self):
sys = tf(84, [1, 2])
np.testing.assert_equal(sys.dcgain(), 42)
np.testing.assert_equal(dcgain(sys), 42)
np.testing.assert_allclose(sys.dcgain(), 42)
np.testing.assert_allclose(dcgain(sys), 42)

@pytest.mark.parametrize("dt1, dt2, expected",
[(None, None, True),
Expand Down
2 changes: 1 addition & 1 deletion control/tests/matlab_test.py
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Expand Up @@ -420,7 +420,7 @@ def testRlocus_list(self, siso, mplcleanup):
klist = [1, 10, 100]
rlist, klist_out = rlocus(siso.tf2, klist, plot=False)
np.testing.assert_equal(len(rlist), len(klist))
np.testing.assert_array_equal(klist, klist_out)
np.testing.assert_allclose(klist, klist_out)

def testNyquist(self, siso):
"""Call nyquist()"""
Expand Down
2 changes: 1 addition & 1 deletion control/tests/rlocus_test.py
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Expand Up @@ -42,7 +42,7 @@ def testRootLocus(self, sys):

roots, k_out = root_locus(sys, klist, plot=False)
np.testing.assert_equal(len(roots), len(klist))
np.testing.assert_array_equal(klist, k_out)
np.testing.assert_allclose(klist, k_out)
self.check_cl_poles(sys, roots, klist)

def test_without_gains(self, sys):
Expand Down
32 changes: 16 additions & 16 deletions control/tests/statesp_test.py
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Expand Up @@ -172,12 +172,12 @@ def test_copy_constructor(self):

# Change the original A matrix
A[0, 0] = -2
np.testing.assert_array_equal(linsys.A, [[-1]]) # original value
np.testing.assert_array_equal(cpysys.A, [[-1]]) # original value
np.testing.assert_allclose(linsys.A, [[-1]]) # original value
np.testing.assert_allclose(cpysys.A, [[-1]]) # original value

# Change the A matrix for the original system
linsys.A[0, 0] = -3
np.testing.assert_array_equal(cpysys.A, [[-1]]) # original value
np.testing.assert_allclose(cpysys.A, [[-1]]) # original value

def test_copy_constructor_nodt(self, sys322):
"""Test the copy constructor when an object without dt is passed"""
Expand Down Expand Up @@ -207,24 +207,24 @@ def test_D_broadcast(self, sys623):
"""Test broadcast of D=0 to the right shape"""
# Giving D as a scalar 0 should broadcast to the right shape
sys = StateSpace(sys623.A, sys623.B, sys623.C, 0)
np.testing.assert_array_equal(sys623.D, sys.D)
np.testing.assert_allclose(sys623.D, sys.D)

# Giving D as a matrix of the wrong size should generate an error
with pytest.raises(ValueError):
sys = StateSpace(sys.A, sys.B, sys.C, np.array([[0]]))

# Make sure that empty systems still work
sys = StateSpace([], [], [], 1)
np.testing.assert_array_equal(sys.D, [[1]])
np.testing.assert_allclose(sys.D, [[1]])

sys = StateSpace([], [], [], [[0]])
np.testing.assert_array_equal(sys.D, [[0]])
np.testing.assert_allclose(sys.D, [[0]])

sys = StateSpace([], [], [], [0])
np.testing.assert_array_equal(sys.D, [[0]])
np.testing.assert_allclose(sys.D, [[0]])

sys = StateSpace([], [], [], 0)
np.testing.assert_array_equal(sys.D, [[0]])
np.testing.assert_allclose(sys.D, [[0]])

def test_pole(self, sys322):
"""Evaluate the poles of a MIMO system."""
Expand Down Expand Up @@ -388,7 +388,7 @@ def test_freq_resp(self):

np.testing.assert_almost_equal(mag, true_mag)
np.testing.assert_almost_equal(phase, true_phase)
np.testing.assert_equal(omega, true_omega)
np.testing.assert_almost_equal(omega, true_omega)

# Deprecated version of the call (should return warning)
with pytest.warns(DeprecationWarning, match="will be removed"):
Expand Down Expand Up @@ -516,15 +516,15 @@ def test_dc_gain_discr(self):
"""Test DC gain for discrete-time state-space systems."""
# static gain
sys = StateSpace([], [], [], 2, True)
np.testing.assert_equal(sys.dcgain(), 2)
np.testing.assert_allclose(sys.dcgain(), 2)

# averaging filter
sys = StateSpace(0.5, 0.5, 1, 0, True)
np.testing.assert_allclose(sys.dcgain(), 1)

# differencer
sys = StateSpace(0, 1, -1, 1, True)
np.testing.assert_equal(sys.dcgain(), 0)
np.testing.assert_allclose(sys.dcgain(), 0)

# summer
sys = StateSpace(1, 1, 1, 0, True)
Expand Down Expand Up @@ -592,14 +592,14 @@ def test_matrix_static_gain(self):
g3 = StateSpace([], [], [], d2.T)

h1 = g1 * g2
np.testing.assert_array_equal(np.dot(d1, d2), h1.D)
np.testing.assert_allclose(np.dot(d1, d2), h1.D)
h2 = g1 + g3
np.testing.assert_array_equal(d1 + d2.T, h2.D)
np.testing.assert_allclose(d1 + d2.T, h2.D)
h3 = g1.feedback(g2)
np.testing.assert_array_almost_equal(
solve(np.eye(2) + np.dot(d1, d2), d1), h3.D)
h4 = g1.append(g2)
np.testing.assert_array_equal(block_diag(d1, d2), h4.D)
np.testing.assert_allclose(block_diag(d1, d2), h4.D)

def test_remove_useless_states(self):
"""Regression: _remove_useless_states gives correct ABC sizes."""
Expand Down Expand Up @@ -633,7 +633,7 @@ def test_minreal_static_gain(self):
np.testing.assert_array_equal(g1.A, g2.A)
np.testing.assert_array_equal(g1.B, g2.B)
np.testing.assert_array_equal(g1.C, g2.C)
np.testing.assert_array_equal(g1.D, g2.D)
np.testing.assert_allclose(g1.D, g2.D)

def test_empty(self):
"""Regression: can we create an empty StateSpace object?"""
Expand All @@ -651,7 +651,7 @@ def test_matrix_to_state_space(self):
np.testing.assert_array_equal(np.empty((0, 0)), g.A)
np.testing.assert_array_equal(np.empty((0, D.shape[1])), g.B)
np.testing.assert_array_equal(np.empty((D.shape[0], 0)), g.C)
np.testing.assert_array_equal(D, g.D)
np.testing.assert_allclose(D, g.D)

def test_lft(self):
""" test lft function with result obtained from matlab implementation"""
Expand Down
2 changes: 1 addition & 1 deletion control/tests/timeresp_test.py
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Expand Up @@ -364,7 +364,7 @@ def test_step_nostates(self, dt):
"""
sys = TransferFunction([1], [1], dt)
t, y = step_response(sys)
np.testing.assert_array_equal(y, np.ones(len(t)))
np.testing.assert_allclose(y, np.ones(len(t)))

def assert_step_info_match(self, sys, info, info_ref):
"""Assert reasonable step_info accuracy."""
Expand Down
2 changes: 1 addition & 1 deletion control/tests/xferfcn_input_test.py
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Expand Up @@ -69,7 +69,7 @@ def test_clean_part(num, fun, dtype):
for i, numi in enumerate(num_):
assert len(numi) == ref_.shape[1]
for j, numj in enumerate(numi):
np.testing.assert_array_equal(numj, ref_[i, j, ...])
np.testing.assert_allclose(numj, ref_[i, j, ...])


@pytest.mark.parametrize("badinput", [[[0., 1.], [2., 3.]], "a"])
Expand Down
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