o
    g6T                     @   s   d dl Zd dlmZmZmZmZmZmZm	Z	 d dl
mZ d dlmZmZmZmZmZmZmZmZmZmZmZmZ G dd dZG dd dZG d	d
 d
ZG dd dZG dd dZG dd dZG dd dZ G dd dZ!dS )    N)assert_equalassert_array_almost_equalassert_array_equalassert_allcloseassert_assert_almost_equalsuppress_warnings)raises)dlsimdstepdimpulsetf2zpkltidlti
StateSpaceTransferFunctionZerosPolesGain	dfreqrespdbodeBadCoefficientsc                   @   D   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd Zdd Z	dS )TestDLTIc                 C   s  t ddgddgg}t g dg dg}t ddgg}t g dg}d}t t jd	d
ddd d t jf t ddt ddf}t jd	ddd}t g dgj}t d	d	gddgddgddgddgg}	t|||||f||\}
}}t	|| t	|	| t	||
 tdd |d	dgd d f }t ddg}t|||||f||\}
}}t	|| t	|	| t
t|
|jd	  t ddg}t g d}t g d gj}t||df|d d d	f |\}
}t	|| t	||
 t |d d d	f }|d!}t||df||\}
}t	|| t	||
 t dd"g}t d#t d$ d%t d$ g}d}t g d&gj}t|||df|d d d	f |\}
}t	|| t	||
 td'gd'd'g}ttt|| d S )(N?皙?皙ɿg?r   皙        皙?r   333333?r   r   r         ?r   g      @   )num)r#      g{Gz?gMb`       @)gMbPgc#GgD2?gъo?g#Y?ga2U0*S?gMb@?gTƿ?gkHcCG?g'h'?g56Ng9!@gbmӿ)r%            r         ?r   )r    r*   皙?)r   r   g
@gqqg^B{	7@)r#                       ?r'   y             )r   r*   r&   g      @g      @r%   )npasarrayhstacklinspacenewaxisfullarrayTr
   r   r   lenshapereshapesqrtr   assert_raisesAttributeError)selfabcddtut_in
yout_truth
xout_truthtoutyoutxoutu_sparset_sparser$   denuflatzdpdksystem rQ   ]/home/ubuntu/cloudmapper/venv/lib/python3.10/site-packages/scipy/signal/tests/test_dltisys.py
test_dlsim   sh    








"




"$

zTestDLTI.test_dlsimc                 C     t ddgddgg}t g dg dg}t ddgg}t g dg}d}t g d	t g d
t g df}t|||||fdd\}}tt|d tdt|D ]}	t||	 jd d t||	  ||	  qWdgddgdf}
t g d}t|
dd\}}tt|d t|d  | t	|
d |
d d }t|dd\}}tt|d t|d  | t
dgddg}ttt| d S )Nr   r   r   r   r   r    r!   r"   )
r   {Gz?g9v?gMO?gNz1?g0g >㷿gW	N3Ŀg+(ͿgGӿ)
r   g333333gV-g,Ԛga̦ۢgQo&g*~gIطgp,%Բg[W)
r   {Gzg9vgMOgNz1cg0?g >?gW	N3?g+(?gG?
   nr(   r   r*   )r   r*   r   r%   r"   )r.   r/   r   r   r6   ranger7   r   flattenr   r   r:   r;   )r<   r=   r>   r?   r@   rA   yout_step_truthrF   rG   itfinyout_tfstepzpkinrP   rQ   rQ   rR   
test_dstepf   s2   zTestDLTI.test_dstepc                 C   rT   )Nr   r   r   r   r   r    r!   r"   )
r   rU   g~jt?ggr]g{ю~gB"LQ.gE_ngRPɺ1g1%)
r   g?g rh?g<,?gdm?gZՒr0[gS¸xg^TDgg#~g}T`)
r   rV   g~jthgg?gr]?g{ю~?gB"LQ.?gE_n?gRPɺ1?g1%?rW   rX   r(   r   r*   )r   r*   g      r%   rZ   )r.   r/   r   r   r6   r[   r7   r   r\   r   r   r:   r;   )r<   r=   r>   r?   r@   rA   yout_imp_truthrF   rG   r^   r_   yout_tfimpulsera   rP   rQ   rQ   rR   test_dimpulse   s2   
zTestDLTI.test_dimpulsec           
      C   s   t dgg}t dgg}t dgg}t dgg}d}t |dd}t||||df|\}}}	t|t t| t|t |df t|	t |df d S )Nr   r#   r%   r.   r4   zerosr8   r
   r   arangefloat)
r<   r=   r>   r?   r@   rY   rB   rF   rG   rH   rQ   rQ   rR   test_dlsim_trivial   s   zTestDLTI.test_dlsim_trivialc                 C   s   t dgg}t dgg}t dgg}t dgg}d}t |dd}t||||df|dd\}}}	t|t t| dt t| dd}
t||
 t|	|
 d S )Nr"   r   r*   r#   rf   r%   x0rg   )r<   r=   r>   r?   r@   rY   rB   rF   rG   rH   expectedrQ   rQ   rR   test_dlsim_simple1d   s   
zTestDLTI.test_dlsim_simple1dc                 C   s   d}d}t |dgd|gg}t dgdgg}t ddgddgg}t dgdgg}d}t |dd}t||||df|dd\}	}
}t|	t t| t ||gt t|dd }t|
| t|| d S )	Nr"   g      ?r   r*   r#   rf   r%   rl   rg   )r<   lambda1lambda2r=   r>   r?   r@   rY   rB   rF   rG   rH   rn   rQ   rQ   rR   test_dlsim_simple2d   s.   


zTestDLTI.test_dlsim_simple2dc                 C   sN  d}d}t |dgd|gg}t ddgddgg}t ddgg}t ddgg}d}t||||df|d\}}	dd|  d|t |   }
dd|  d|t |   }t|	d d d df |
 t|	d d d df | t ddg}t||||df||d	\}}t ||gt d
|d d
d }d|dd d f< |d |df t |d|d d d f | }|d |df t |d|d d d f | }t|d d d df | t|d d d df | dgddgdf}t|dd\}\}t|g d t|j	g dg t|dd\}\}t|g d t|j	g dg d S )Nr"   g      ?r   r*   rW   r%   rX   r   )rY   rm   rf   r,   r   r(   )r   r   r+   )r   r*   g      ?)r   r%   r"   )
r.   r4   r   ri   r   r   r8   dotr   r5   )r<   rp   rq   r=   r>   r?   r@   rY   tsysstp0stp1rm   tiyiimpy0y1rP   tyrQ   rQ   rR   test_more_step_and_impulse   sB   

00z#TestDLTI.test_more_step_and_impulseN)
__name__
__module____qualname__rS   rb   re   rk   ro   rr   r   rQ   rQ   rQ   rR   r      s    U-,r   c                   @   s   e Zd Zdd ZdS )TestDltic                 C   s  d}t dgdg|d}tt|t tt|t  tt|t  t|j| t tg tdgd|d}tt|t	 tt|t  tt|t  t|j| t dgdgdd|d}tt|t
 tt|t  tt|t  t|j| ttt d ttt ddddd d S )Nr   r%   rf   rA   r(   )r   r   
isinstancer   r   r   rA   r.   r4   r   r   r:   
ValueError)r<   rA   srQ   rQ   rR   test_dlti_instantiation  s$   z TestDlti.test_dlti_instantiationN)r   r   r   r   rQ   rQ   rQ   rR   r     s    r   c                   @   $   e Zd Zdd Zdd Zdd ZdS )TestStateSpaceDiscc                 C   s   d}t dddd|d t dgdgdgdg|d t tddgddggtdgdggtddggtdgg|d t dddddd d S )	Nr   r%   r   r'   r(   r)   r   T)r   r.   r4   r<   rA   rQ   rQ   rR   test_initialization<  s   &z&TestStateSpaceDisc.test_initializationc                 C   sl   t dddddd}tt| t  tt| t tt| t tt ||u t| |u d S )Nr%   r'   r(   r)   r   r   )r   r   r   to_ssto_tfr   to_zpkr   r<   r   rQ   rQ   rR   test_conversionE  s   z"TestStateSpaceDisc.test_conversionc                 C   s2   t dddddd}t|jdg t|jdg d S )Nr%   r   r   r   )r   r   polesrh   r   rQ   rQ   rR   test_propertiesP  s   z"TestStateSpaceDisc.test_propertiesNr   r   r   r   r   r   rQ   rQ   rQ   rR   r   ;  s    	r   c                   @   r   )TestTransferFunctionc                 C   sT   d}t dd|d t dgdg|d t tdgtdg|d t dddd d S Nr   r%   r   r'   T)r   r.   r4   r   rQ   rQ   rR   r   [  s
   z(TestTransferFunction.test_initializationc                 C   sp   t ddgddgdd}tt| t tt| t  tt| t tt ||u t| |u d S Nr%   r   rf   r   r   )r   r   r   r   r   r   r   r   r   rQ   rQ   rR   r   c  s   z$TestTransferFunction.test_conversionc                 C   s6   t ddgddgdd}t|jdg t|jdg d S r   )r   r   r   rh   r   rQ   rQ   rR   r   n  s   z$TestTransferFunction.test_propertiesNr   rQ   rQ   rQ   rR   r   Z  s    r   c                   @   s   e Zd Zdd Zdd ZdS )TestZerosPolesGainc                 C   s\   d}t ddd|d t dgdgd|d t tdgtdgd|d t ddddd d S r   )r   r.   r4   r   rQ   rQ   rR   r   y  s
    z&TestZerosPolesGain.test_initializationc                 C   sj   t ddddd}tt| t tt| t tt| t  tt ||u t| |u d S )Nr%   r'   r(   r   r   )r   r   r   r   r   r   r   r   r   rQ   rQ   rR   r     s   z"TestZerosPolesGain.test_conversionN)r   r   r   r   r   rQ   rQ   rQ   rR   r   x  s    r   c                   @   r   )Test_dfreqrespc                 C   s^   t dddgdd}g d}t||d\}}g d}t|j|dd	 g d
}t|j|dd	 d S )Nr%   r   r   r   )r   r%   rW   w)gU0*?g;On?gfj+r)   decimal)gClÿg&WgZd;O?)r   r   r   realimag)r<   rP   r   Hexpected_reexpected_imrQ   rQ   rR   test_manual  s   zTest_dfreqresp.test_manualc                 C   s|   t dddgdd}g d}t||d\}}t|d }t|j|t|j| }|j}t|j| |j	}t|j	| d S )Nr%   r   r   r   r   r%   rW   d   r   r-   )
r   r   r.   exppolyvalr$   rK   r   r   r   )r<   rP   r   r   jwr~   r   r   rQ   rQ   rR   	test_auto  s   zTest_dfreqresp.test_autoc                 C   sH   t dddgdd}d}tjdtjddd}t||d	\}}t|| d S )
Nr%   r   r   r   rW   r   FendpointrX   )r   r.   r1   pir   r   )r<   rP   rY   
expected_wr   r   rQ   rQ   rR   test_freq_range  s
   zTest_dfreqresp.test_freq_rangec                 C   sx   t dgddgdd}t }|jtdd |jtdd t|dd	\}}W d    n1 s.w   Y  t|d
 d d S Nr%   rf   r   r   zdivide by zero)messagezinvalid value encounteredr'   rX   r   r   )r   r   filterRuntimeWarningr   r   )r<   rP   supr   r   rQ   rQ   rR   test_pole_one  s   zTest_dfreqresp.test_pole_onec                 C       t dgddg}ttt| d S Nr%   )r   r:   r;   r   r<   rP   rQ   rQ   rR   
test_error     zTest_dfreqresp.test_errorc                 C   s   t dgg d}tg dg dg dg}tg dgj}tg dg}d}t ||||}dtd	dd
 }t }|t t||d\}	}
t||d\}}W d    n1 s\w   Y  t	|
| d S )Nr'   )r%   r,   r   r   )r"   r   r   )r%   r   r   )r   r%   r   )r   r   r'   r   g      $@r"   r   )
r   r.   r4   r5   ri   r   r   r   r   r   )r<   	system_TFABCD	system_SSr   r   w1H1w2H2rQ   rQ   rR   test_from_state_space  s    

z$Test_dfreqresp.test_from_state_spacec                 C   sR   t g dgd}t dddg}g d}t||d\}}t||d\}}t|| d S )Nr+   r    r%   r   r   r   )r   r   r   )r<   
system_ZPKr   r   r   r   r   r   rQ   rQ   rR   test_from_zpk  s   zTest_dfreqresp.test_from_zpkN)
r   r   r   r   r   r   r   r   r   r   rQ   rQ   rQ   rR   r     s    
r   c                   @   s<   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd ZdS )	Test_bodec           	      C   sz   d}t dddg|d}dddtjg}t||d\}}}g d}t||d	d
 g d}t||d	d
 tt|| | d S )Nr   r    r%   r   r   r"   r   )gD!gvq!g$~;#g0*(r)   r   )gzGgJAg_)Pg     f)r   r.   r   r   r   r   r4   )	r<   rA   rP   r   r   magphaseexpected_magexpected_phaserQ   rQ   rR   r     s   zTest_bode.test_manualc           
      C   s   t dddgdd}tdddtjg}t||d\}}}t|d }t|j|t|j| }d	t	t
| }t|| tt|}	t||	 d S )
Nr    r%   r   r   r   r"   r   r-   g      4@)r   r.   r4   r   r   r   r   r$   rK   log10absr   rad2degangle)
r<   rP   r   r   r   r   r   r~   r   r   rQ   rQ   rR   r     s   
zTest_bode.test_autoc                 C   sR   d}t dddgdd}d}tjdtj|dd	| }t||d
\}}}t|| d S )Nr   r    r%   r   r   rW   r   Fr   rX   )r   r.   r1   r   r   r   )r<   rA   rP   rY   r   r   r   r   rQ   rQ   rR   
test_range  s   zTest_bode.test_rangec                 C   sz   t dgddgdd}t }|jtdd |jtdd t|dd	\}}}W d    n1 s/w   Y  t|d
 d d S r   )r   r   r   r   r   r   )r<   rP   r   r   r   r   rQ   rQ   rR   r     s   zTest_bode.test_pole_onec                 C   s$   t dgg ddd}t|dd d S )Nr%   )r%   r   r   r   r   r'   rX   )r   r   r   rQ   rQ   rR   test_imaginary$  s   zTest_bode.test_imaginaryc                 C   r   r   )r   r:   r;   r   r   rQ   rQ   rR   r   *  r   zTest_bode.test_errorN)	r   r   r   r   r   r   r   r   r   rQ   rQ   rQ   rR   r     s    r   c                   @   s(   e Zd ZdZdd Zdd Zdd ZdS )	TestTransferFunctionZConversionz=Test private conversions between 'z' and 'z**-1' polynomials.c                 C   s\   g d}g d}t ||\}}t|| t|| t ||\}}t|| t|| d S )Nr'   r(   r)   r#         r   
_z_to_zinvr   
_zinv_to_zr<   r$   rK   num2den2rQ   rQ   rR   	test_full3  s   


z)TestTransferFunctionZConversion.test_fullc                 C   sd   ddg}g d}t ||\}}tg d| t|| t ||\}}tg d| t|| d S )Nr'   r(   r   )r   r'   r(   )r'   r(   r   r   r   rQ   rQ   rR   test_numerator?  s   
z.TestTransferFunctionZConversion.test_numeratorc                 C   sd   g d}ddg}t ||\}}t|| tg d| t ||\}}t|| tg d| d S )Nr   r#   r   )r   r#   r   )r#   r   r   r   r   rQ   rQ   rR   test_denominatorK  s   

z0TestTransferFunctionZConversion.test_denominatorN)r   r   r   __doc__r   r   r   rQ   rQ   rQ   rR   r   0  s
    r   )"numpyr.   numpy.testingr   r   r   r   r   r   r   pytestr	   r:   scipy.signalr
   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r   r   rQ   rQ   rQ   rR   <module>   s   $8  [H