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replace np.pi with math.pi (avoids Mock() issues) + docstring update … · python-control/python-control@aa6e0df

@@ -44,6 +44,7 @@

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import matplotlib.pyplot as plt

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import scipy as sp

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import numpy as np

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import math

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from .ctrlutil import unwrap

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from .bdalg import feedback

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@@ -128,7 +129,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,

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else:

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omega_limits = np.array(omega_limits)

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if Hz:

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omega_limits *= 2.*np.pi

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omega_limits *= 2.*math.pi

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if omega_num:

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omega = sp.logspace(np.log10(omega_limits[0]), np.log10(omega_limits[1]), num=omega_num, endpoint=True)

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else:

@@ -142,7 +143,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,

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else:

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omega_sys = np.array(omega)

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if sys.isdtime(True):

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nyquistfrq = 2. * np.pi * 1. / sys.dt / 2.

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nyquistfrq = 2. * math.pi * 1. / sys.dt / 2.

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omega_sys = omega_sys[omega_sys < nyquistfrq]

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# TODO: What distance to the Nyquist frequency is appropriate?

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else:

@@ -154,9 +155,9 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,

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phase = unwrap(phase)

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nyquistfrq_plot = None

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if Hz:

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omega_plot = omega_sys / (2. * np.pi)

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omega_plot = omega_sys / (2. * math.pi)

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if nyquistfrq:

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nyquistfrq_plot = nyquistfrq / (2. * np.pi)

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nyquistfrq_plot = nyquistfrq / (2. * math.pi)

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else:

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omega_plot = omega_sys

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if nyquistfrq:

@@ -187,7 +188,7 @@ def bode_plot(syslist, omega=None, dB=None, Hz=None, deg=None,

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# Phase plot

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ax_phase = plt.subplot(212, sharex=ax_mag);

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if deg:

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phase_plot = phase * 180. / np.pi

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phase_plot = phase * 180. / math.pi

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else:

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phase_plot = phase

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ax_phase.semilogx(omega_plot, phase_plot, *args, **kwargs)

@@ -208,8 +209,8 @@ def genZeroCenteredSeries(val_min, val_max, period):

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ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], 15.), minor=True)

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else:

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ylim = ax_phase.get_ylim()

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ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], np.pi / 4.))

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ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], np.pi / 12.), minor=True)

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ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], math.pi / 4.))

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ax_phase.set_yticks(genZeroCenteredSeries(ylim[0], ylim[1], math.pi / 12.), minor=True)

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ax_phase.grid(True, which='both')

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# ax_mag.grid(which='minor', alpha=0.3)

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# ax_mag.grid(which='major', alpha=0.9)

@@ -449,7 +450,7 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe

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features_ = features_[features_ != 0.0];

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features = np.concatenate((features, features_))

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elif sys.isdtime(strict=True):

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fn = np.pi * 1. / sys.dt

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fn = math.pi * 1. / sys.dt

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# TODO: What distance to the Nyquist frequency is appropriate?

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freq_interesting.append(fn * 0.9)

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@@ -475,12 +476,12 @@ def default_frequency_range(syslist, Hz=None, number_of_samples=None, feature_pe

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features = np.array([1.]);

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if Hz:

478-

features /= 2.*np.pi

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features /= 2.*math.pi

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features = np.log10(features)

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lsp_min = np.floor(np.min(features) - feature_periphery_decade)

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lsp_max = np.ceil(np.max(features) + feature_periphery_decade)

482-

lsp_min += np.log10(2.*np.pi)

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lsp_max += np.log10(2.*np.pi)

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lsp_min += np.log10(2.*math.pi)

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lsp_max += np.log10(2.*math.pi)

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else:

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features = np.log10(features)

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lsp_min = np.floor(np.min(features) - feature_periphery_decade)