Merge pull request #780 from gonmolina/repr-latex-statesp

bnavigator · web-flow · commit beb629b9efc0 · 2022-10-14T21:46:52.000+02:00
Improve compatibility of state space representation using LaTeX
diff --git a/control/statesp.py b/control/statesp.py
@@ -519,7 +519,7 @@ def _latex_partitioned_stateless(self):
         s : string with LaTeX representation of model
         """
         lines = [
-            r'\[',
+            r'$$',
             (r'\left('
              + r'\begin{array}'
              + r'{' + 'rll' * self.ninputs + '}')
@@ -533,7 +533,7 @@ def _latex_partitioned_stateless(self):
             r'\end{array}'
             r'\right)'
             + self._latex_dt(),
-            r'\]'])
+            r'$$'])
 
         return '\n'.join(lines)
 
@@ -551,7 +551,7 @@ def _latex_partitioned(self):
             return self._latex_partitioned_stateless()
 
         lines = [
-            r'\[',
+            r'$$',
             (r'\left('
              + r'\begin{array}'
              + r'{' + 'rll' * self.nstates + '|' + 'rll' * self.ninputs + '}')
@@ -571,7 +571,7 @@ def _latex_partitioned(self):
             r'\end{array}'
             + r'\right)'
             + self._latex_dt(),
-            r'\]'])
+            r'$$'])
 
         return '\n'.join(lines)
 
@@ -585,7 +585,7 @@ def _latex_separate(self):
         s : string with LaTeX representation of model
         """
         lines = [
-            r'\[',
+            r'$$',
             r'\begin{array}{ll}',
             ]
 
@@ -615,7 +615,7 @@ def fmt_matrix(matrix, name):
         lines.extend([
             r'\end{array}'
             + self._latex_dt(),
-            r'\]'])
+            r'$$'])
 
         return '\n'.join(lines)
 
diff --git a/control/tests/statesp_test.py b/control/tests/statesp_test.py
@@ -1011,23 +1011,23 @@ def test_statespace_defaults(self, matarrayout):
           [[1.2345, -2e-200], [-1, 0]])
 
 LTX_G1_REF = {
-    '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\\]',
+    '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(\\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\\]',
+    '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\\]',
+    '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(\\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(\\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\\]',
+    'p3_s' : '$$\n\\begin{array}{ll}\nD = \\left(\\begin{array}{rllrll}\n1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n$$',
 
-    'p5_s' : '\\[\n\\begin{array}{ll}\nD = \\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\\end{array}\n\\]',
+    'p5_s' : '$$\n\\begin{array}{ll}\nD = \\left(\\begin{array}{rllrll}\n1.&\\hspace{-1em}2345&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n$$',
 }
 
 refkey_n = {None: 'p3', '.3g': 'p3', '.5g': 'p5'}
