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Merged
merged 3 commits into from
Dec 21, 2022
Merged

Relax comparison of floats in tests #818

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089ca21
compare floats as almost equal
bnavigator Dec 18, 2022
e13f57f
increase nulps
bnavigator Dec 18, 2022
5352222
fix FRD test errors (use exact freq points)
murrayrm Dec 21, 2022
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4 changes: 2 additions & 2 deletions control/tests/delay_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,8 @@ def testTvalues(self, T, dendeg, numdeg, baseden, basenum):
refnum /= refden[0]
refden /= refden[0]
num, den = pade(T, dendeg, numdeg)
np.testing.assert_array_almost_equal_nulp(refden, den, nulp=2)
np.testing.assert_array_almost_equal_nulp(refnum, num, nulp=2)
np.testing.assert_array_almost_equal_nulp(refden, den, nulp=4)
np.testing.assert_array_almost_equal_nulp(refnum, num, nulp=4)

def testErrors(self):
"ValueError raised for invalid arguments"
Expand Down
12 changes: 6 additions & 6 deletions control/tests/flatsys_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -693,9 +693,9 @@ def test_response(self, xf, uf, Tf):

# Recompute using response()
response = traj.response(T, squeeze=False)
np.testing.assert_equal(T, response.time)
np.testing.assert_equal(u, response.inputs)
np.testing.assert_equal(x, response.states)
np.testing.assert_array_almost_equal(T, response.time)
np.testing.assert_array_almost_equal(u, response.inputs)
np.testing.assert_array_almost_equal(x, response.states)

@pytest.mark.parametrize(
"basis",
Expand All @@ -713,7 +713,7 @@ def test_basis_class(self, basis):
for j in range(basis.N):
coefs = np.zeros(basis.N)
coefs[j] = 1
np.testing.assert_equal(
np.testing.assert_array_almost_equal(
basis.eval(coefs, timepts),
basis.eval_deriv(j, 0, timepts))
else:
Expand All @@ -722,7 +722,7 @@ def test_basis_class(self, basis):
for j in range(basis.var_ncoefs(i)):
coefs = np.zeros(basis.var_ncoefs(i))
coefs[j] = 1
np.testing.assert_equal(
np.testing.assert_array_almost_equal(
basis.eval(coefs, timepts, var=i),
basis.eval_deriv(j, 0, timepts, var=i))

Expand All @@ -732,7 +732,7 @@ def test_basis_class(self, basis):
for j in range(basis.var_ncoefs(i)):
coefs = np.zeros(basis.N)
coefs[offset] = 1
np.testing.assert_equal(
np.testing.assert_array_almost_equal(
basis.eval(coefs, timepts)[i],
basis.eval_deriv(j, 0, timepts, var=i))
offset += 1
150 changes: 80 additions & 70 deletions control/tests/frd_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,122 +51,126 @@ def testOperators(self):
h1 = TransferFunction([1], [1, 2, 2])
h2 = TransferFunction([1], [0.1, 1])
omega = np.logspace(-1, 2, 10)
chkpts = omega[::3]
f1 = FRD(h1, omega)
f2 = FRD(h2, omega)

np.testing.assert_array_almost_equal(
(f1 + f2).frequency_response([0.1, 1.0, 10])[0],
(h1 + h2).frequency_response([0.1, 1.0, 10])[0])
(f1 + f2).frequency_response(chkpts)[0],
(h1 + h2).frequency_response(chkpts)[0])
np.testing.assert_array_almost_equal(
(f1 + f2).frequency_response([0.1, 1.0, 10])[1],
(h1 + h2).frequency_response([0.1, 1.0, 10])[1])
(f1 + f2).frequency_response(chkpts)[1],
(h1 + h2).frequency_response(chkpts)[1])
np.testing.assert_array_almost_equal(
(f1 - f2).frequency_response([0.1, 1.0, 10])[0],
(h1 - h2).frequency_response([0.1, 1.0, 10])[0])
(f1 - f2).frequency_response(chkpts)[0],
(h1 - h2).frequency_response(chkpts)[0])
np.testing.assert_array_almost_equal(
(f1 - f2).frequency_response([0.1, 1.0, 10])[1],
(h1 - h2).frequency_response([0.1, 1.0, 10])[1])
(f1 - f2).frequency_response(chkpts)[1],
(h1 - h2).frequency_response(chkpts)[1])

# multiplication and division
np.testing.assert_array_almost_equal(
(f1 * f2).frequency_response([0.1, 1.0, 10])[1],
(h1 * h2).frequency_response([0.1, 1.0, 10])[1])
(f1 * f2).frequency_response(chkpts)[1],
(h1 * h2).frequency_response(chkpts)[1])
np.testing.assert_array_almost_equal(
(f1 / f2).frequency_response([0.1, 1.0, 10])[1],
(h1 / h2).frequency_response([0.1, 1.0, 10])[1])
(f1 / f2).frequency_response(chkpts)[1],
(h1 / h2).frequency_response(chkpts)[1])

# with default conversion from scalar
np.testing.assert_array_almost_equal(
(f1 * 1.5).frequency_response([0.1, 1.0, 10])[1],
(h1 * 1.5).frequency_response([0.1, 1.0, 10])[1])
(f1 * 1.5).frequency_response(chkpts)[1],
(h1 * 1.5).frequency_response(chkpts)[1])
np.testing.assert_array_almost_equal(
(f1 / 1.7).frequency_response([0.1, 1.0, 10])[1],
(h1 / 1.7).frequency_response([0.1, 1.0, 10])[1])
(f1 / 1.7).frequency_response(chkpts)[1],
(h1 / 1.7).frequency_response(chkpts)[1])
np.testing.assert_array_almost_equal(
(2.2 * f2).frequency_response([0.1, 1.0, 10])[1],
(2.2 * h2).frequency_response([0.1, 1.0, 10])[1])
(2.2 * f2).frequency_response(chkpts)[1],
(2.2 * h2).frequency_response(chkpts)[1])
np.testing.assert_array_almost_equal(
(1.3 / f2).frequency_response([0.1, 1.0, 10])[1],
(1.3 / h2).frequency_response([0.1, 1.0, 10])[1])
(1.3 / f2).frequency_response(chkpts)[1],
(1.3 / h2).frequency_response(chkpts)[1])

def testOperatorsTf(self):
# get two SISO transfer functions
h1 = TransferFunction([1], [1, 2, 2])
h2 = TransferFunction([1], [0.1, 1])
omega = np.logspace(-1, 2, 10)
chkpts = omega[::3]
f1 = FRD(h1, omega)
f2 = FRD(h2, omega)
f2 # reference to avoid pyflakes error

np.testing.assert_array_almost_equal(
(f1 + h2).frequency_response([0.1, 1.0, 10])[0],
(h1 + h2).frequency_response([0.1, 1.0, 10])[0])
(f1 + h2).frequency_response(chkpts)[0],
(h1 + h2).frequency_response(chkpts)[0])
np.testing.assert_array_almost_equal(
(f1 + h2).frequency_response([0.1, 1.0, 10])[1],
(h1 + h2).frequency_response([0.1, 1.0, 10])[1])
(f1 + h2).frequency_response(chkpts)[1],
(h1 + h2).frequency_response(chkpts)[1])
np.testing.assert_array_almost_equal(
(f1 - h2).frequency_response([0.1, 1.0, 10])[0],
(h1 - h2).frequency_response([0.1, 1.0, 10])[0])
(f1 - h2).frequency_response(chkpts)[0],
(h1 - h2).frequency_response(chkpts)[0])
np.testing.assert_array_almost_equal(
(f1 - h2).frequency_response([0.1, 1.0, 10])[1],
(h1 - h2).frequency_response([0.1, 1.0, 10])[1])
(f1 - h2).frequency_response(chkpts)[1],
(h1 - h2).frequency_response(chkpts)[1])
# multiplication and division
np.testing.assert_array_almost_equal(
(f1 * h2).frequency_response([0.1, 1.0, 10])[1],
(h1 * h2).frequency_response([0.1, 1.0, 10])[1])
(f1 * h2).frequency_response(chkpts)[1],
(h1 * h2).frequency_response(chkpts)[1])
np.testing.assert_array_almost_equal(
(f1 / h2).frequency_response([0.1, 1.0, 10])[1],
(h1 / h2).frequency_response([0.1, 1.0, 10])[1])
(f1 / h2).frequency_response(chkpts)[1],
(h1 / h2).frequency_response(chkpts)[1])
# the reverse does not work

def testbdalg(self):
# get two SISO transfer functions
h1 = TransferFunction([1], [1, 2, 2])
h2 = TransferFunction([1], [0.1, 1])
omega = np.logspace(-1, 2, 10)
chkpts = omega[::3]
f1 = FRD(h1, omega)
f2 = FRD(h2, omega)

np.testing.assert_array_almost_equal(
(bdalg.series(f1, f2)).frequency_response([0.1, 1.0, 10])[0],
(bdalg.series(h1, h2)).frequency_response([0.1, 1.0, 10])[0])
(bdalg.series(f1, f2)).frequency_response(chkpts)[0],
(bdalg.series(h1, h2)).frequency_response(chkpts)[0])

np.testing.assert_array_almost_equal(
(bdalg.parallel(f1, f2)).frequency_response([0.1, 1.0, 10])[0],
(bdalg.parallel(h1, h2)).frequency_response([0.1, 1.0, 10])[0])
(bdalg.parallel(f1, f2)).frequency_response(chkpts)[0],
(bdalg.parallel(h1, h2)).frequency_response(chkpts)[0])

np.testing.assert_array_almost_equal(
(bdalg.feedback(f1, f2)).frequency_response([0.1, 1.0, 10])[0],
(bdalg.feedback(h1, h2)).frequency_response([0.1, 1.0, 10])[0])
(bdalg.feedback(f1, f2)).frequency_response(chkpts)[0],
(bdalg.feedback(h1, h2)).frequency_response(chkpts)[0])

np.testing.assert_array_almost_equal(
(bdalg.negate(f1)).frequency_response([0.1, 1.0, 10])[0],
(bdalg.negate(h1)).frequency_response([0.1, 1.0, 10])[0])
(bdalg.negate(f1)).frequency_response(chkpts)[0],
(bdalg.negate(h1)).frequency_response(chkpts)[0])

# append() and connect() not implemented for FRD objects
# np.testing.assert_array_almost_equal(
# (bdalg.append(f1, f2)).frequency_response([0.1, 1.0, 10])[0],
# (bdalg.append(h1, h2)).frequency_response([0.1, 1.0, 10])[0])
# (bdalg.append(f1, f2)).frequency_response(chkpts)[0],
# (bdalg.append(h1, h2)).frequency_response(chkpts)[0])
#
# f3 = bdalg.append(f1, f2, f2)
# h3 = bdalg.append(h1, h2, h2)
# Q = np.mat([ [1, 2], [2, -1] ])
# np.testing.assert_array_almost_equal(
# (bdalg.connect(f3, Q, [2], [1])).frequency_response([0.1, 1.0, 10])[0],
# (bdalg.connect(h3, Q, [2], [1])).frequency_response([0.1, 1.0, 10])[0])
# (bdalg.connect(f3, Q, [2], [1])).frequency_response(chkpts)[0],
# (bdalg.connect(h3, Q, [2], [1])).frequency_response(chkpts)[0])

def testFeedback(self):
h1 = TransferFunction([1], [1, 2, 2])
omega = np.logspace(-1, 2, 10)
chkpts = omega[::3]
f1 = FRD(h1, omega)
np.testing.assert_array_almost_equal(
f1.feedback(1).frequency_response([0.1, 1.0, 10])[0],
h1.feedback(1).frequency_response([0.1, 1.0, 10])[0])
f1.feedback(1).frequency_response(chkpts)[0],
h1.feedback(1).frequency_response(chkpts)[0])

# Make sure default argument also works
np.testing.assert_array_almost_equal(
f1.feedback().frequency_response([0.1, 1.0, 10])[0],
h1.feedback().frequency_response([0.1, 1.0, 10])[0])
f1.feedback().frequency_response(chkpts)[0],
h1.feedback().frequency_response(chkpts)[0])

def testFeedback2(self):
h2 = StateSpace([[-1.0, 0], [0, -2.0]], [[0.4], [0.1]],
Expand Down Expand Up @@ -197,13 +201,14 @@ def testMIMO(self):
[[1.0, 0.0], [0.0, 1.0]],
[[0.0, 0.0], [0.0, 0.0]])
omega = np.logspace(-1, 2, 10)
chkpts = omega[::3]
f1 = FRD(sys, omega)
np.testing.assert_array_almost_equal(
sys.frequency_response([0.1, 1.0, 10])[0],
f1.frequency_response([0.1, 1.0, 10])[0])
sys.frequency_response(chkpts)[0],
f1.frequency_response(chkpts)[0])
np.testing.assert_array_almost_equal(
sys.frequency_response([0.1, 1.0, 10])[1],
f1.frequency_response([0.1, 1.0, 10])[1])
sys.frequency_response(chkpts)[1],
f1.frequency_response(chkpts)[1])

@slycotonly
def testMIMOfb(self):
Expand All @@ -212,14 +217,15 @@ def testMIMOfb(self):
[[1.0, 0.0], [0.0, 1.0]],
[[0.0, 0.0], [0.0, 0.0]])
omega = np.logspace(-1, 2, 10)
chkpts = omega[::3]
f1 = FRD(sys, omega).feedback([[0.1, 0.3], [0.0, 1.0]])
f2 = FRD(sys.feedback([[0.1, 0.3], [0.0, 1.0]]), omega)
np.testing.assert_array_almost_equal(
f1.frequency_response([0.1, 1.0, 10])[0],
f2.frequency_response([0.1, 1.0, 10])[0])
f1.frequency_response(chkpts)[0],
f2.frequency_response(chkpts)[0])
np.testing.assert_array_almost_equal(
f1.frequency_response([0.1, 1.0, 10])[1],
f2.frequency_response([0.1, 1.0, 10])[1])
f1.frequency_response(chkpts)[1],
f2.frequency_response(chkpts)[1])

@slycotonly
def testMIMOfb2(self):
Expand All @@ -229,15 +235,16 @@ def testMIMOfb2(self):
np.array([[1.0, 0], [0, 0], [0, 1]]),
np.eye(3), np.zeros((3, 2)))
omega = np.logspace(-1, 2, 10)
chkpts = omega[::3]
K = np.array([[1, 0.3, 0], [0.1, 0, 0]])
f1 = FRD(sys, omega).feedback(K)
f2 = FRD(sys.feedback(K), omega)
np.testing.assert_array_almost_equal(
f1.frequency_response([0.1, 1.0, 10])[0],
f2.frequency_response([0.1, 1.0, 10])[0])
f1.frequency_response(chkpts)[0],
f2.frequency_response(chkpts)[0])
np.testing.assert_array_almost_equal(
f1.frequency_response([0.1, 1.0, 10])[1],
f2.frequency_response([0.1, 1.0, 10])[1])
f1.frequency_response(chkpts)[1],
f2.frequency_response(chkpts)[1])

@slycotonly
def testMIMOMult(self):
Expand All @@ -246,14 +253,15 @@ def testMIMOMult(self):
[[1.0, 0.0], [0.0, 1.0]],
[[0.0, 0.0], [0.0, 0.0]])
omega = np.logspace(-1, 2, 10)
chkpts = omega[::3]
f1 = FRD(sys, omega)
f2 = FRD(sys, omega)
np.testing.assert_array_almost_equal(
(f1*f2).frequency_response([0.1, 1.0, 10])[0],
(sys*sys).frequency_response([0.1, 1.0, 10])[0])
(f1*f2).frequency_response(chkpts)[0],
(sys*sys).frequency_response(chkpts)[0])
np.testing.assert_array_almost_equal(
(f1*f2).frequency_response([0.1, 1.0, 10])[1],
(sys*sys).frequency_response([0.1, 1.0, 10])[1])
(f1*f2).frequency_response(chkpts)[1],
(sys*sys).frequency_response(chkpts)[1])

@slycotonly
def testMIMOSmooth(self):
Expand All @@ -263,17 +271,18 @@ def testMIMOSmooth(self):
[[0.0, 0.0], [0.0, 0.0], [0.0, 0.0]])
sys2 = np.array([[1, 0, 0], [0, 1, 0]]) * sys
omega = np.logspace(-1, 2, 10)
chkpts = omega[::3]
f1 = FRD(sys, omega, smooth=True)
f2 = FRD(sys2, omega, smooth=True)
np.testing.assert_array_almost_equal(
(f1*f2).frequency_response([0.1, 1.0, 10])[0],
(sys*sys2).frequency_response([0.1, 1.0, 10])[0])
(f1*f2).frequency_response(chkpts)[0],
(sys*sys2).frequency_response(chkpts)[0])
np.testing.assert_array_almost_equal(
(f1*f2).frequency_response([0.1, 1.0, 10])[1],
(sys*sys2).frequency_response([0.1, 1.0, 10])[1])
(f1*f2).frequency_response(chkpts)[1],
(sys*sys2).frequency_response(chkpts)[1])
np.testing.assert_array_almost_equal(
(f1*f2).frequency_response([0.1, 1.0, 10])[2],
(sys*sys2).frequency_response([0.1, 1.0, 10])[2])
(f1*f2).frequency_response(chkpts)[2],
(sys*sys2).frequency_response(chkpts)[2])

def testAgainstOctave(self):
# with data from octave:
Expand All @@ -284,6 +293,7 @@ def testAgainstOctave(self):
np.array([[1.0, 0], [0, 0], [0, 1]]),
np.eye(3), np.zeros((3, 2)))
omega = np.logspace(-1, 2, 10)
chkpts = omega[::3]
f1 = FRD(sys, omega)
np.testing.assert_array_almost_equal(
(f1.frequency_response([1.0])[0] *
Expand Down