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Phaseplot typeerror #97

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Merged
merged 2 commits into from
Dec 26, 2016
Merged

Phaseplot typeerror #97

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0104e4b
added fix for phaseplots to handle no arrow case correctly
murrayrm Jun 13, 2016
8144627
updated path so that standalone testing works better
murrayrm Jun 13, 2016
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15 changes: 11 additions & 4 deletions control/phaseplot.py
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Original file line number Diff line number Diff line change
Expand Up @@ -120,7 +120,10 @@ def phase_plot(odefun, X=None, Y=None, scale=1, X0=None, T=None,
# Figure out ranges for phase plot (argument processing)
#
#! TODO: need to add error checking to arguments
#! TODO: think through proper action if multiple options are given
#
autoFlag = False; logtimeFlag = False; timeptsFlag = False; Narrows = 0;

if lingrid is not None:
autoFlag = True;
Narrows = lingrid;
Expand All @@ -138,14 +141,18 @@ def phase_plot(odefun, X=None, Y=None, scale=1, X0=None, T=None,
timeptsFlag = True;
Narrows = len(timepts);

else:
# Figure out the set of points for the quiver plot
#! TODO: Add sanity checks
# Figure out the set of points for the quiver plot
#! TODO: Add sanity checks
elif (X is not None and Y is not None):
(x1, x2) = np.meshgrid(
frange(X[0], X[1], float(X[1]-X[0])/X[2]),
frange(Y[0], Y[1], float(Y[1]-Y[0])/Y[2]));
else:
# If we weren't given any grid points, don't plot arrows
Narrows = 0;

if ((not autoFlag) and (not logtimeFlag) and (not timeptsFlag)):
if ((not autoFlag) and (not logtimeFlag) and (not timeptsFlag)
and (Narrows > 0)):
# Now calculate the vector field at those points
(nr,nc) = x1.shape;
dx = np.empty((nr, nc, 2))
Expand Down
4 changes: 2 additions & 2 deletions control/rlocus.py
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Expand Up @@ -50,7 +50,7 @@
from scipy import array, poly1d, row_stack, zeros_like, real, imag
import scipy.signal # signal processing toolbox
import pylab # plotting routines
from . import xferfcn
from .xferfcn import _convertToTransferFunction
from .exception import ControlMIMONotImplemented
from functools import partial

Expand Down Expand Up @@ -144,7 +144,7 @@ def _systopoly1d(sys):

else:
# Convert to a transfer function, if needed
sys = xferfcn._convertToTransferFunction(sys)
sys = _convertToTransferFunction(sys)

# Make sure we have a SISO system
if (sys.inputs > 1 or sys.outputs > 1):
Expand Down
15 changes: 14 additions & 1 deletion control/tests/phaseplot_test.py
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Expand Up @@ -13,7 +13,7 @@
import numpy as np
import scipy as sp
import matplotlib.pyplot as mpl
from control.phaseplot import *
from control import phase_plot
from numpy import pi

class TestPhasePlot(unittest.TestCase):
Expand Down Expand Up @@ -53,6 +53,19 @@ def testOscillatorParams(self):
[-0.5,-1], [-0.7,-1], [-1,-1], [-1.3,-1]],
T = np.linspace(0, 10, 100), parms = (m, b, k));

def testNoArrows(self):
# Test case from aramakrl that was generating a type error
# System does not have arrows
def d1(x1x2,t):
x1,x2 = x1x2
return np.array([x2, x2 - 2*x1])

x1x2_0 = np.array([[-1.,1.], [-1.,-1.], [1.,1.], [1.,-1.],
[-1.,0.],[1.,0.],[0.,-1.],[0.,1.],[0.,0.]])

mpl.figure(1)
phase_plot(d1,X0=x1x2_0,T=100)

# Sample dynamical systems - inverted pendulum
def invpend_ode(self, x, t, m=1., l=1., b=0, g=9.8):
import numpy as np
Expand Down