import unittest

import numpy as np

from control.statesp import StateSpace, _convertToStateSpace

from control.xferfcn import TransferFunction, _convertToTransferFunction

from control.statesp import StateSpace, _convertToStateSpace, rss

from control.xferfcn import TransferFunction, _convertToTransferFunction, ss2tf

from control.lti import evalfr

from control.exception import slycot_check

# from control.lti import isdtime

np.testing.assert_array_almost_equal(H.num[1][0], H2.num[1][0])

np.testing.assert_array_almost_equal(H.den[1][0], H2.den[1][0])

def testIndexing(self):

tm = ss2tf(rss(5, 3, 3))

# scalar indexing

sys01 = tm[0, 1]

np.testing.assert_array_almost_equal(sys01.num[0][0], tm.num[0][1])

np.testing.assert_array_almost_equal(sys01.den[0][0], tm.den[0][1])

# slice indexing

sys = tm[:2, 1:3]

np.testing.assert_array_almost_equal(sys.num[0][0], tm.num[0][1])

np.testing.assert_array_almost_equal(sys.den[0][0], tm.den[0][1])

np.testing.assert_array_almost_equal(sys.num[0][1], tm.num[0][2])

np.testing.assert_array_almost_equal(sys.den[0][1], tm.den[0][2])

np.testing.assert_array_almost_equal(sys.num[1][0], tm.num[1][1])

np.testing.assert_array_almost_equal(sys.den[1][0], tm.den[1][1])

np.testing.assert_array_almost_equal(sys.num[1][1], tm.num[1][2])

np.testing.assert_array_almost_equal(sys.den[1][1], tm.den[1][2])

def testMatrixMult(self):

"""MIMO transfer functions should be multiplyable by constant

matrices"""

if other < 0:

return (TransferFunction([1], [1]) / self) * (self**(other+1))

def __getitem__(self, key):

key1, key2 = key

# pre-process

if isinstance(key1, int):

key1 = slice(key1, key1 + 1, 1)

if isinstance(key2, int):

key2 = slice(key2, key2 + 1, 1)

# dim1

start1, stop1, step1 = key1.start, key1.stop, key1.step

if step1 is None:

step1 = 1

if start1 is None:

start1 = 0

if stop1 is None:

stop1 = len(self.num)

# dim1

start2, stop2, step2 = key2.start, key2.stop, key2.step

if step2 is None:

step2 = 1

if start2 is None:

start2 = 0

if stop2 is None:

stop2 = len(self.num[0])

num = []

den = []

for i in range(start1, stop1, step1):

num_i = []

den_i = []

for j in range(start2, stop2, step2):

num_i.append(self.num[i][j])

den_i.append(self.den[i][j])

num.append(num_i)

den.append(den_i)

if self.isctime():

return TransferFunction(num, den)

else:

return TransferFunction(num, den, self.dt)

def evalfr(self, omega):

"""Evaluate a transfer function at a single angular frequency.