Merge pull request #482 from bnavigator/skip-impulse-test

bnavigator · web-flow · commit 26206dca7130 · 2020-12-29T05:48:06.000+01:00
skip impulse sampling for old scipy
diff --git a/control/tests/timeresp_test.py b/control/tests/timeresp_test.py
@@ -9,7 +9,12 @@
 # specific unit tests will do that.
 
 import unittest
+from distutils.version import StrictVersion
+
 import numpy as np
+import pytest
+import scipy as sp
+
 from control.timeresp import *
 from control.timeresp import _ideal_tfinal_and_dt, _default_time_vector
 from control.statesp import *
@@ -29,11 +34,11 @@ def setUp(self):
         # Create some transfer functions
         self.siso_tf1 = TransferFunction([1], [1, 2, 1])
         self.siso_tf2 = _convert_to_transfer_function(self.siso_ss1)
-        
+
         # tests for pole cancellation
-        self.pole_cancellation = TransferFunction([1.067e+05, 5.791e+04], 
+        self.pole_cancellation = TransferFunction([1.067e+05, 5.791e+04],
                                             [10.67, 1.067e+05, 5.791e+04])
-        self.no_pole_cancellation = TransferFunction([1.881e+06], 
+        self.no_pole_cancellation = TransferFunction([1.881e+06],
                                             [188.1, 1.881e+06])
 
         # Create MIMO system, contains ``siso_ss1`` twice
@@ -177,8 +182,8 @@ def test_step_info(self):
         # https://github.com/python-control/python-control/issues/440
         step_info_no_cancellation = step_info(self.no_pole_cancellation)
         step_info_cancellation = step_info(self.pole_cancellation)
-        for key in step_info_no_cancellation: 
-            np.testing.assert_allclose(step_info_no_cancellation[key], 
+        for key in step_info_no_cancellation:
+            np.testing.assert_allclose(step_info_no_cancellation[key],
                                        step_info_cancellation[key], rtol=1e-4)
 
     def test_impulse_response(self):
@@ -218,6 +223,8 @@ def test_impulse_response(self):
         np.testing.assert_array_almost_equal(
             yy, np.vstack((youttrue, np.zeros_like(youttrue))), decimal=4)
 
+    @pytest.mark.skipif(StrictVersion(sp.__version__) < "1.3.0",
+                        reason="requires SciPy 1.3.0 or greater")
     def test_discrete_time_impulse(self):
         # discrete time impulse sampled version should match cont time
         dt = 0.1
@@ -226,7 +233,7 @@ def test_discrete_time_impulse(self):
         sysdt = sys.sample(dt, 'impulse')
         np.testing.assert_array_almost_equal(impulse_response(sys, t)[1],
                                              impulse_response(sysdt, t)[1])
-        
+
     def test_initial_response(self):
         # Test SISO system
         sys = self.siso_ss1
@@ -363,7 +370,7 @@ def test_step_robustness(self):
         "Unit test: https://github.com/python-control/python-control/issues/240"
         # Create 2 input, 2 output system
         num =  [ [[0], [1]],           [[1],   [0]] ]
-        
+
         den1 = [ [[1], [1,1]],         [[1,4], [1]] ]
         sys1 = TransferFunction(num, den1)
 
@@ -381,47 +388,47 @@ def test_auto_generated_time_vector(self):
         ratio = 9.21034*p # taken from code
         ratio2 = 25*p
         np.testing.assert_array_almost_equal(
-            _ideal_tfinal_and_dt(TransferFunction(1, [1, .5]))[0], 
+            _ideal_tfinal_and_dt(TransferFunction(1, [1, .5]))[0],
             (ratio/p))
         np.testing.assert_array_almost_equal(
-            _ideal_tfinal_and_dt(TransferFunction(1, [1, .5]).sample(.1))[0], 
+            _ideal_tfinal_and_dt(TransferFunction(1, [1, .5]).sample(.1))[0],
             (ratio2/p))
         # confirm a TF with poles at 0 and p simulates for ratio/p seconds
         np.testing.assert_array_almost_equal(
-            _ideal_tfinal_and_dt(TransferFunction(1, [1, .5, 0]))[0], 
+            _ideal_tfinal_and_dt(TransferFunction(1, [1, .5, 0]))[0],
             (ratio2/p))
 
-        # confirm a TF with a natural frequency of wn rad/s gets a 
+        # confirm a TF with a natural frequency of wn rad/s gets a
         # dt of 1/(ratio*wn)
         wn = 10
         ratio_dt = 1/(0.025133 * ratio * wn)
         np.testing.assert_array_almost_equal(
-            _ideal_tfinal_and_dt(TransferFunction(1, [1, 0, wn**2]))[1], 
+            _ideal_tfinal_and_dt(TransferFunction(1, [1, 0, wn**2]))[1],
             1/(ratio_dt*ratio*wn))
         wn = 100
         np.testing.assert_array_almost_equal(
-            _ideal_tfinal_and_dt(TransferFunction(1, [1, 0, wn**2]))[1], 
+            _ideal_tfinal_and_dt(TransferFunction(1, [1, 0, wn**2]))[1],
             1/(ratio_dt*ratio*wn))
         zeta = .1
         np.testing.assert_array_almost_equal(
-            _ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]))[1], 
+            _ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]))[1],
             1/(ratio_dt*ratio*wn))
         # but a smapled one keeps its dt
         np.testing.assert_array_almost_equal(
-            _ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]).sample(.1))[1], 
+            _ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]).sample(.1))[1],
             .1)
         np.testing.assert_array_almost_equal(
-            np.diff(initial_response(TransferFunction(1, [1, 2*zeta*wn, wn**2]).sample(.1))[0][0:2]), 
+            np.diff(initial_response(TransferFunction(1, [1, 2*zeta*wn, wn**2]).sample(.1))[0][0:2]),
             .1)
         np.testing.assert_array_almost_equal(
-            _ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]))[1], 
+            _ideal_tfinal_and_dt(TransferFunction(1, [1, 2*zeta*wn, wn**2]))[1],
             1/(ratio_dt*ratio*wn))
-        
-        
+
+
         # TF with fast oscillations simulates only 5000 time steps even with long tfinal
-        self.assertEqual(5000, 
+        self.assertEqual(5000,
             len(_default_time_vector(TransferFunction(1, [1, 0, wn**2]),tfinal=100)))
-        
+
         sys = TransferFunction(1, [1, .5, 0])
         sysdt = TransferFunction(1, [1, .5, 0], .1)
         # test impose number of time steps
@@ -430,16 +437,16 @@ def test_auto_generated_time_vector(self):
         self.assertNotEqual(15, len(step_response(sysdt, T_num=15)[0]))
         # test impose final time
         np.testing.assert_array_almost_equal(
-            100, 
+            100,
             np.ceil(step_response(sys, 100)[0][-1]))
         np.testing.assert_array_almost_equal(
-            100, 
+            100,
             np.ceil(step_response(sysdt, 100)[0][-1]))
         np.testing.assert_array_almost_equal(
-            100, 
+            100,
             np.ceil(impulse_response(sys, 100)[0][-1]))
         np.testing.assert_array_almost_equal(
-            100, 
+            100,
             np.ceil(initial_response(sys, 100)[0][-1]))
 
 
@@ -490,7 +497,7 @@ def test_time_vector(self):
         np.testing.assert_array_equal(tout, Tin1)
 
         # MIMO forced response
-        tout, yout, xout = forced_response(self.mimo_dss1, Tin1, 
+        tout, yout, xout = forced_response(self.mimo_dss1, Tin1,
                                            (np.sin(Tin1), np.cos(Tin1)),
                                            mimo_x0)
         self.assertEqual(np.shape(tout), np.shape(yout[0,:]))
