diff --git a/control/config.py b/control/config.py
index 21840231b..ad9ffb235 100644
--- a/control/config.py
+++ b/control/config.py
@@ -171,17 +171,45 @@ def use_legacy_defaults(version):
Parameters
----------
version : string
- version number of the defaults desired. ranges from '0.1' to '0.8.4'.
+ Version number of the defaults desired. Ranges from '0.1' to '0.8.4'.
"""
- numbers_list = version.split(".")
- first_digit = int(numbers_list[0])
- second_digit = int(numbers_list[1].strip('abcdef')) # remove trailing letters
- if second_digit < 8:
- # TODO: anything for 0.7 and below if needed
- pass
- elif second_digit == 8:
- if len(version) > 4:
- third_digit = int(version[4])
- use_numpy_matrix(True) # alternatively: set_defaults('statesp', use_numpy_matrix=True)
- else:
- raise ValueError('''version number not recognized. Possible values range from '0.1' to '0.8.4'.''')
+ import re
+ (major, minor, patch) = (None, None, None) # default values
+
+ # Early release tag format: REL-0.N
+ match = re.match("REL-0.([12])", version)
+ if match: (major, minor, patch) = (0, int(match.group(1)), 0)
+
+ # Early release tag format: control-0.Np
+ match = re.match("control-0.([3-6])([a-d])", version)
+ if match: (major, minor, patch) = \
+ (0, int(match.group(1)), ord(match.group(2)) - ord('a') + 1)
+
+ # Early release tag format: v0.Np
+ match = re.match("[vV]?0.([3-6])([a-d])", version)
+ if match: (major, minor, patch) = \
+ (0, int(match.group(1)), ord(match.group(2)) - ord('a') + 1)
+
+ # Abbreviated version format: vM.N or M.N
+ match = re.match("([vV]?[0-9]).([0-9])", version)
+ if match: (major, minor, patch) = \
+ (int(match.group(1)), int(match.group(2)), 0)
+
+ # Standard version format: vM.N.P or M.N.P
+ match = re.match("[vV]?([0-9]).([0-9]).([0-9])", version)
+ if match: (major, minor, patch) = \
+ (int(match.group(1)), int(match.group(2)), int(match.group(3)))
+
+ # Make sure we found match
+ if major is None or minor is None:
+ raise ValueError("Version number not recognized. Try M.N.P format.")
+
+ #
+ # Go backwards through releases and reset defaults
+ #
+
+ # Version 0.9.0: switched to 'array' as default for state space objects
+ if major == 0 and minor < 9:
+ set_defaults('statesp', use_numpy_matrix=True)
+
+ return (major, minor, patch)
diff --git a/control/statesp.py b/control/statesp.py
index dd0ea6f5e..5af916bf0 100644
--- a/control/statesp.py
+++ b/control/statesp.py
@@ -70,7 +70,7 @@
# Define module default parameter values
_statesp_defaults = {
- 'statesp.use_numpy_matrix': True,
+ 'statesp.use_numpy_matrix': False, # False is default in 0.9.0 and above
'statesp.default_dt': None,
'statesp.remove_useless_states': True,
}
diff --git a/control/tests/config_test.py b/control/tests/config_test.py
index 667a7e3c4..a8e86d1ff 100644
--- a/control/tests/config_test.py
+++ b/control/tests/config_test.py
@@ -214,14 +214,28 @@ def test_reset_defaults(self):
def test_legacy_defaults(self):
ct.use_legacy_defaults('0.8.3')
assert(isinstance(ct.ss(0,0,0,1).D, np.matrix))
+
ct.reset_defaults()
assert(isinstance(ct.ss(0,0,0,1).D, np.ndarray))
+ assert(not isinstance(ct.ss(0,0,0,1).D, np.matrix))
+
+ ct.use_legacy_defaults('0.9.0')
+ assert(isinstance(ct.ss(0,0,0,1).D, np.ndarray))
+ assert(not isinstance(ct.ss(0,0,0,1).D, np.matrix))
+
# test that old versions don't raise a problem
+ ct.use_legacy_defaults('REL-0.1')
+ ct.use_legacy_defaults('control-0.3a')
ct.use_legacy_defaults('0.6c')
ct.use_legacy_defaults('0.8.2')
ct.use_legacy_defaults('0.1')
+
+ # Make sure that nonsense versions generate an error
+ self.assertRaises(ValueError, ct.use_legacy_defaults, "a.b.c")
+ self.assertRaises(ValueError, ct.use_legacy_defaults, "1.x.3")
+
+ # Leave everything like we found it
ct.config.reset_defaults()
-
def test_change_default_dt(self):
ct.set_defaults('statesp', default_dt=0)
diff --git a/control/tests/modelsimp_test.py b/control/tests/modelsimp_matrix_test.py
similarity index 100%
rename from control/tests/modelsimp_test.py
rename to control/tests/modelsimp_matrix_test.py
diff --git a/control/tests/robust_test.py b/control/tests/robust_matrix_test.py
similarity index 100%
rename from control/tests/robust_test.py
rename to control/tests/robust_matrix_test.py
diff --git a/control/tests/statefbk_test.py b/control/tests/statefbk_matrix_test.py
similarity index 100%
rename from control/tests/statefbk_test.py
rename to control/tests/statefbk_matrix_test.py
diff --git a/control/tests/statesp_test.py b/control/tests/statesp_matrix_test.py
similarity index 100%
rename from control/tests/statesp_test.py
rename to control/tests/statesp_matrix_test.py
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