o
    5Bi                     @   sF  d dl Z d dlZd dl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mZmZ d dlmZ d dlmZ 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&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_almost_equalassert_equalassert_allcloseassert_suppress_warnings)raises)ss2tftf2ssltidltibodefreqresplsimimpulsestepabcd_normalizeplace_polesTransferFunction
StateSpaceZerosPolesGain)BadCoefficients:0yE>c              
   C   s   |  }| D ]D}d}t|jd D ](}tt|t|gt|| t|| g||r9d}t||  nq|sJtdt	| d t	| qdS )a  
    Check each pole in P1 is close to a pole in P2 with a 1e-8
    relative tolerance or 1e-8 absolute tolerance (useful for zero poles).
    These tolerances are very strict but the systems tested are known to
    accept these poles so we should not be far from what is requested.
    Fr   TzCan't find pole z in N)
copyrangeshapenpallcloserealimagdelete
ValueErrorstr)P1P2rtolatolp1foundp2_idx r)   ^/var/www/html/Trade-python/venv/lib/python3.10/site-packages/scipy/signal/tests/test_ltisys.py_assert_poles_close   s    r+   c                   @   s4   e Zd Zdd Zdd Zdd Zdd Zd	d
 ZdS )TestPlacePolesc                 K   sZ   t |||fi |}tj|t||j \}}t||j t||j t||j |S )z
        Perform the most common tests on the poles computed by place_poles
        and return the Bunch object for further specific tests
        )	r   r   linalgeigdotgain_matrixr+   requested_polescomputed_poles)selfABPkwargsfsfexpected_r)   r)   r*   _check'   s   zTestPlacePoles._checkc                 C   s   t g ddd}t g ddd}t g d}| j|||dd | j|||dd t jd	d
 | ||d W d    d S 1 sHw   Y  d S )NgGz?gʿg\(@gNbX9g<,Ԛg)\(r   g?gOn?d;O@gV-gOn@g~jt?r=   grh|?gE    )r   K@V-?r@   r   r   ^I+	r      皙ɿ      g}гY9gDT!KNV0methodYTignore)invalid)rB   rB      rL   )r   arrayreshaper;   errstate)r3   r4   r5   r6   r)   r)   r*   	test_real3   s   "zTestPlacePoles.test_realc                 C   s  t g dg dg dg dg}t ddgddgddgddgg}t g d}t jddd | ||| W d    n1 sBw   Y  g d	}t jddd | j|||d
d W d    n1 sfw   Y  t g ddd}t g ddd}g d}| ||| t dt d }t dt dgd dd d dd f  }||d dd df< ||d dd df< g d}t jddd | ||| W d    n1 sw   Y  g d}| |d dd df |d dd df | g d}| |d dd df |d dd df | t g ddd}t g ddd}t g d}t jddd t||| W d    n	1 sNw   Y  t g d}t jddd | ||| W d    d S 1 suw   Y  d S )N)r      r   r   )r   r   r   竪@)r   r   r   r   r      )                          ?rJ   )dividerK   )y        ưy        ư>
   i  maxiter)$iii%iiFii[iiiYiiii\ii^iciii(i~iiiiirB   iSiiigiiipii   )iiiii0i_iLi`iiiii]ii#iii"iHiii<i^iUiiiciiiR   )y      9      =y      9      =@y      ?@      Ey      ?@      E@y     @@     Dy     @@     D@)   r_   r_   )r_   rZ   rZ   )rY   (   2   <   F   y      4      y      4      @y      @      @y      @      )
rY   r`   ra   iiiirU   )
y      $      $@y      4      4@y      >      >@y      D      D@y      I      I@y      $      $y      4      4y      >      >y      D      Dy      I      I)r   rQ   r   r   r   r   r   rR   r   r   r   r   r   r   r   r   r   r   r   r^   r   r   r   r   	   )
r   r   r   r   rS   r   r   rS   rB   rL   rB   )y            ?y                        ?            )rj   rT   rk   rl   )	r   rM   rO   r;   rN   oneseyediagr   )r3   r4   r5   r6   big_Abig_Br)   r)   r*   test_complexI   sl   

,..$zTestPlacePoles.test_complexc                 C   s   t g ddd}t g ddd}t g d}| |||}t|jt j t|jt j t d}| |||}t|jt j t|jt j |d d df dd}t d}| |||}t|jd t|jd d S )Nr<   r>   )r   r?   r@   r@   r   r   rA   r   rS   rB   rL   r>   r^   r]   rQ      rC   )rW   rV   rT   rj   r   rS   )r   rM   rN   r;   r   r$   nannb_iter)r3   r4   r5   r6   r8   r)   r)   r*   test_tricky_B   s&   

zTestPlacePoles.test_tricky_Bc              	   C   s  t g ddd}t g ddd}ttt||ddd ttt||t ddd ttt|d d d d t jf |d ttt||d d d d t jf d ttt||d	 ttt||d
 ttt||ddd ttt||ddd ttt||d tttt dt dd tj	dd9}t
d t||dddd}tt|dk tt|d jt tdt|d jv  t|jd W d    n1 sw   Y  ttt||d ttt|d d d df |d ttt||d dd d f d ttt||ddd d S ) N)r   rQ   r   r   r   r   r   rR   r   r   r   r   r   r   r   r   r>   )r   r   r   r   rS   r   r   rS   rB   ) 皙ffffff333333foorG   rS   )rx   ry   rz   r{   rT   )rx   ry   rz   *   r$   ir[   )rj   rj   rj   rj   )r>   r>   )r>   rB   rS   rB   rL   r>   T)recordalways)rU   rj   rT   rm   gؗҜ<)r$   r\   rU   z4Convergence was not reached after maxiter iterations)rW   rV                @rj   rL   )rj   rT   rm   )rW   rV   r   y             rF   )r   rM   rN   assert_raisesr    r   newaxisrn   warningscatch_warningssimplefilterr   len
issubclasscategoryUserWarningr!   messager   rv   )r3   r4   r5   wr8   r)   r)   r*   test_errors   sT   



  

zTestPlacePoles.test_errorsN)__name__
__module____qualname__r;   rP   rs   rw   r   r)   r)   r)   r*   r,   %   s    P"r,   c                   @   sD   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd Zdd Z	dS )	TestSS2TFc                 C   s<   t t||ft||ft||ft||fd d S )Nr   )r   r   zerosr3   pqrr)   r)   r*   check_matrix_shapes   s
   zTestSS2TF.check_matrix_shapesc                 C   s"   dD ]\}}}|  ||| qd S )N))rL   rL   rL   )rS   rL   rL   rS   rS   rS   )r   r   r)   r)   r*   test_shapes  s   zTestSS2TF.test_shapesc           	      C   s   t g d}t g d}t||\}}}}t|ddgddggdd t|dgdggdd t|dd	ggdd t|dggd
d t||||\}}t|d |dd t||dd d S )N)      ?      @      @)r          @r   rj   rT   rS   r   vIh%<=r~   rB   +=)r   rM   r	   r   r   )	r3   bar4   r5   CDbbaar)   r)   r*   
test_basic  s   zTestSS2TF.test_basicc                 C   sF  d}t | \}}}}t|dggdd t|dggdd t|dggdd t|dggdd t||||\}}t|ddggdd t|ddgdd dgdggdf}t | \}}}}t|dggdd t|dggdd t|dgdggdd t|dgdggdd t||||\}}t|ddgddggdd t|ddgdd d S )N)rB   rS   r   r   r~   rB   rS   r^   )r	   r   r   r3   tfr4   r5   r   r   numdenr)   r)   r*   test_zero_order_round_trip  s$   z$TestSS2TF.test_zero_order_round_tripc                 C   s  ddgddggddgf}t | \}}}}t|dggdd t|dggdd t|dgdggdd t|dgdggdd t||||\}}t|ddgddggdd t|ddgdd g dg d	gg d	f}t | \}}}}t|ddgddggdd t|dgdggdd t|ddgddggdd t|dgdggdd t||||\}}t|g dg d	gdd t|g d	dd g d
g d
gg df}t | \}}}}t|g dg dg dgdd t|dgdgdggdd t|g d
g d
gdd t|dgdggdd t||||\}}t|g dg dgdd t|g ddd tjdddggtdddgf}t | \}}}}t|dggdd t|dggdd t|dgdggdd t|dgdggdd t||||\}}t|ddgddggdd t|ddgdd tjddgg d
gtdg df}t | \}}}}t|ddgddggdd t|dgdggdd t|ddgddggdd t|dgdggdd t||||\}}t|g dg d
gdd t|g ddd d S )NrS   rB   rj   r   r~   r   rU   )rS   r   rS   r   )rS   rB   rL   r   )rj   rT   rm   )rS   r   r   r   rS   r   )r   rS   rB   rL   rL   )dtyper]   ighe99irT   )rS   r]   r^   r   rm   )r   rS   rT   )r	   r   r   r   rM   objectr   r)   r)   r*   test_simo_round_trip3  sZ    "zTestSS2TF.test_simo_round_tripc                 C   sv   g dg dg dg}dgdgdgg}g dg}dgg}t ||||\}}t|g dgdd	d
 t|g ddd d S )Nr   )r   r   rS   )rT   rm   rj   r   rS   )r^   rS   r   )        r   r   r   r   r   r$   r%   )r   r         @r   r~   )r   r   )r3   r4   r5   r   r   r   r   r)   r)   r*   test_all_int_arraysl  s   
zTestSS2TF.test_all_int_arraysc                 C   s  t g dg dg dg dg}t dgdgdgdgg}t g dg d	g d
g}t dgdgdgg}t||||\}}t|||d |d \}}t|||d |d \}	}
t|||d |d \}}t||dd t|
|dd t||dd t|t ||	|fddd d S )N)      r   r   r   )r   r   r   r   )g      r   r   r   )g              @r   r   333333?r   g      @)r   r   r   r   )r   r   r   r   )r   r   r   r   r   r   rS   rB   r   r~   r   r   )r   rM   r   r   vstack)r3   r4   r5   r   r   b_allr   b0a0b1a1b2a2r)   r)   r*   test_multioutputu  s4   

 zTestSS2TF.test_multioutputN)
r   r   r   r   r   r   r   r   r   r   r)   r)   r)   r*   r      s    9	r   c                   @   s`   e Zd 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d Zdd Zdd ZdS )TestLsimrQ   c                 G   s>   t  }|t t| }W d    |S 1 sw   Y  |S N)r   filterr   r
   )r3   argssupsystemr)   r)   r*   
lti_nowarn  s   


zTestLsim.lti_nowarnc                 C   sb   |  dddd}tdd}t|}t|||dgd\}}}t| }t|| t|| d S Nr   r   r   r   r^   X0r   r   linspace
zeros_liker   expr   r3   r   tutoutyx
expected_xr)   r)   r*   test_first_order  s   

zTestLsim.test_first_orderc                 C   sr   t ddd}t |}| dgg d}t|||ddgd\}}}d| t |  }t|d d df | d S )Nr   rZ   i  r   r   r   r   r   r   )r   r   r   r   r   r   r   )r3   r   r   r   r   r   r   r   r)   r)   r*   test_second_order  s   
zTestLsim.test_second_orderc                 C   sb   |  dddd}tdd}|}t|||\}}}d|d  }t||| jd t||| jd d S )Nr   r   r   r^         ?rB   decimal)r   r   r   r   r   digits_accuracyr   r)   r)   r*   test_integrator  s   zTestLsim.test_integratorc                 C      t ddgddgg}t ddgddgg}t ddg}t d}| ||||}t ddd}t t|d	f}t|||ddgd
\}}	}
t | }t | }t d| }t|	| t|
d d df | t|
d d df | d S )Nr   r          r   rS   rB   r   g      $@   rB   )UTr   rS   	r   rM   r   r   r   r   r   r   r   r3   r4   r5   r   r   r   r   r   r   r   r   
expected_yexpected_x0expected_x1r)   r)   r*   test_two_states  s   

zTestLsim.test_two_statesc                 C   s   t ddgddgg}t dgdgg}t ddgg}| |||d}t dd}t |}t|||\}}}	t t d|d  |g}
|d }t|	|
| jd t||| jd d S )	Nr   r   r   r   r^   r   rB   r   )	r   rM   r   r   	ones_liker   	transposer   r   )r3   r4   r5   r   r   r   r   r   r   r   r   r   r)   r)   r*   test_double_integrator  s   
zTestLsim.test_double_integratorc                 C   s   t ddgddgg}t dgdgg}t ddgg}| |||d}t dd}t |}t|||ddgd\}}}	|t |  }
t||
 d S r   )r   rM   r   r   r   r   r   r   )r3   r4   r5   r   r   r   r   r   r   r   r   r)   r)   r*   test_jordan_block  s   
zTestLsim.test_jordan_blockc                 C   r   )Nr   r   r   r   r   r   r   e   rB   r   rS   r   r   r)   r)   r*   	test_miso  s   

zTestLsim.test_misoc                 C   sX   |  dddd}tdd}t|}t|||dgd\}}}t| }t|| d S )Nr   r   r   rS   rB   r   r   )r3   r   r   r   r   r   r   r   r)   r)   r*   test_nonzero_initial_time  s   
z"TestLsim.test_nonzero_initial_timec                 C   st   t g d}t g d}dgddgf}ttdd t|||dgd\}}}W d    d S 1 s3w   Y  d S )N)r   r   r   r   )r   r   r   r   r   r   z"Time steps are not equally spaced.)matchr   )r   rM   r   r    r   )r3   r   r   r   r   r   r   r)   r)   r*   test_nonequal_timesteps  s   "z TestLsim.test_nonequal_timestepsN)r   r   r   r   r   r   r   r   r   r   r   r   r   r   r)   r)   r)   r*   r     s    
r   c                   @   L   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d Z
dS )TestImpulsec                 C   s4   dgddgf}t |\}}t| }t|| d S Nr   r   r   r   r   r3   r   r   r   r   r)   r)   r*   r     s   zTestImpulse.test_first_orderc                 C   sb   dgddgf}d}t dd|}t||d\}}t|j|f t|| t | }t|| d S )Nr   r   r   r   r   )r   r   r   r   r   r   r   r3   r   nr   r   r   r   r)   r)   r*   test_first_order_fixed_time#  s   
z'TestImpulse.test_first_order_fixed_timec                 C   s<   dgddgf}t |dd\}}dt|  }t|| d S Nr   r   r   r   r   r   r)   r)   r*   test_first_order_initial1  s   z$TestImpulse.test_first_order_initialc                 C   s>   dgddgf}t |dgd\}}dt|  }t|| d S r   r   r   r)   r)   r*   test_first_order_initial_list;  s   z)TestImpulse.test_first_order_initial_listc                 C   s2   dgddgf}t |\}}t|}t|| d S Nr   r   )r   r   r   r   r   r)   r)   r*   r   E  s   
zTestImpulse.test_integratorc                 C   s8   dgg df}t |\}}|t|  }t|| d S )Nr   r   r   r   r)   r)   r*   r   L  s   zTestImpulse.test_second_orderc                 C   s@   dgg df}t |dgddgd\}}t |dgdgd\}}d S )Nr   r   rL   r^   r]   r   r   r   r3   r   r   r   r)   r)   r*   test_array_likeU  s   zTestImpulse.test_array_likec                 C   s$   dgg df}t |ddd\}}d S )Nr   r   rL   r^   r  r  r  r)   r)   r*   test_array_like2\  s   zTestImpulse.test_array_like2N)r   r   r   r   r   r   r   r   r   r  r  r)   r)   r)   r*   r     s    

	r   c                   @   r   )TestStepc                 C   s8   dgddgf}t |\}}dt|  }t|| d S r   r   r   r   r   r   r)   r)   r*   r   b  s   zTestStep.test_first_orderc                 C   sf   dgddgf}d}t dd|}t||d\}}t|j|f t|| dt |  }t|| d S )Nr   r   r   r   r   rS   )r   r   r   r   r   r   r   r   r)   r)   r*   r   j  s   
z$TestStep.test_first_order_fixed_timec                 C   s@   dgddgf}t |dd\}}ddt|   }t|| d S Nr   r   r   rS   r   r  r   r)   r)   r*   r   x  s   z!TestStep.test_first_order_initialc                 C   sB   dgddgf}t |dgd\}}ddt|   }t|| d S r  r  r   r)   r)   r*   r     s   z&TestStep.test_first_order_initial_listc                 C   s,   dgddgf}t |\}}|}t|| d S r   )r   r   r   r)   r)   r*   r     s   zTestStep.test_integratorc                 C   s@   dgg df}t |\}}dd| t|   }t|| d S )Nr   r   rS   r  r   r)   r)   r*   r     s   zTestStep.test_second_orderc                 C   s&   dgg df}t |ddgd\}}d S )Nr   r   r^   r]   r   r   r  r)   r)   r*   r    s   zTestStep.test_array_likec                 C   s   t g dgdf d S )NrU   y      ?        r	  r3   r)   r)   r*   test_complex_input  s   zTestStep.test_complex_inputN)r   r   r   r   r   r   r   r   r   r  r  r)   r)   r)   r*   r  a  s    

	r  c                   @   s   e Zd Zdd ZdS )TestLtic                 C   s   t dgdg}tt|t tt|t  tt|t  t|jd u  t tg tdgd}tt|t tt|t  tt|t  t|jd u  t g dgd}t dgdgdd}tt|t	 tt|t  tt|t  t|jd u  d S )NrS   rU   rL   )
r
   r   
isinstancer   r   dtr   rM   r   r   r3   sr)   r)   r*   test_lti_instantiation  s    zTestLti.test_lti_instantiationN)r   r   r   r  r)   r)   r)   r*   r    s    r  c                   @   s,   e Zd Zdd Zdd Zdd Zdd Zd	S )
TestStateSpacec                 C   sl   t dddd t dgdgdgdg 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 S )NrS   rB   rL   r>   r   )r   r   rM   r
  r)   r)   r*   test_initialization  s
   &z"TestStateSpace.test_initializationc                 C   sh   t dddd}tt| t  tt| t tt| t tt ||u t| |u d S )NrS   rB   rL   r>   )r   r   r  to_ssto_tfr   to_zpkr   r  r)   r)   r*   test_conversion  s   zTestStateSpace.test_conversionc                 C   s<   t dddd}t|jdg t|jdg t|jd u  d S NrS   r   )r   r   polesr   r   r  r  r)   r)   r*   test_properties  s   zTestStateSpace.test_propertiesc              	   C   s  G dd 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}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}|d}|d}tddd}t|}d|d< ttttj	tj
tjfD ]m}	tt|	d| ||dd |	dt|||dd   tt||	d ||dd t|||dd |	d  tt||	d ||dd t|||dd |	d  tt |	d|  W d    n1 sw   Y  qutt|d ||dd t|d| |dd  tt|| ||dd t|t|||dd |dd dd tt ||  W d    n	1 s,w   Y  tt ||  W d    n	1 sEw   Y  tt ||  W d    n	1 s^w   Y  tt ||   W d    n	1 sxw   Y  tt | |  W d    n	1 sw   Y  tt ||   W d    n	1 sw   Y  tt | |  W d    n	1 sw   Y  tt|d ||dd d| t|||dd   tt |tddg  W d    n	1 sw   Y  tt tddg|  W d    n	1 sw   Y  tt ||  W d    n	1 s4w   Y  tt |tddgddgg  W d    n	1 sVw   Y  tt ||  W d    n	1 sow   Y  tt ||   W d    n	1 sw   Y  tt | |  W d    n	1 sw   Y  tt|| ||dd t|||dd t|||dd   tt|d ||dd d| t|||dd   ttd| ||dd d| t| ||dd   tt|| ||dd t|||dd t|||dd   tt ||   W d    n	1 s,w   Y  tt | |  W d    n	1 sFw   Y  || }
t|
jdk || }
t|
jdk d| }
t|
jdk | }
t|
jdk d S )Nc                   @   s   e Zd ZdS )z.TestStateSpace.test_operators.<locals>.BadTypeN)r   r   r   r)   r)   r)   r*   BadType  s    r  rE   gffffff?r   grS   r   rD   gg?皙?g?d   rB   )r   r   gh㈵>)r%   rL   r>   rj   )r   r   rM   to_discreter   r   intfloatcomplexfloat32
complex128r   r   r   	TypeErrorr    r   r  )r3   r  s1s2
s_discretes2_discretes3_discreter   r   typr  r)   r)   r*   test_operators  s   























""

zTestStateSpace.test_operatorsN)r   r   r   r  r  r  r+  r)   r)   r)   r*   r    s
    
r  c                   @   s$   e Zd Zdd Zdd Zdd ZdS )TestTransferFunctionc                 C   s6   t dd t dgdg t tdgtdg d S NrS   rB   )r   r   rM   r
  r)   r)   r*   r  d  s   
z(TestTransferFunction.test_initializationc                 C   sl   t ddgddg}tt| t tt| t  tt| t tt ||u t| |u d S NrS   r   rU   )r   r   r  r  r   r  r  r   r  r)   r)   r*   r  j  s   z$TestTransferFunction.test_conversionc                 C   s2   t ddgddg}t|jdg t|jdg d S r.  )r   r   r  r   r  r)   r)   r*   r  u  s   z$TestTransferFunction.test_propertiesN)r   r   r   r  r  r  r)   r)   r)   r*   r,  c  s    r,  c                   @   s   e Zd Zdd Zdd ZdS )TestZerosPolesGainc                 C   s<   t ddd t dgdgd t tdgtdgd d S r-  )r   r   rM   r
  r)   r)   r*   r    s    z&TestZerosPolesGain.test_initializationc                 C   sf   t ddd}tt| t tt| t tt| t  tt ||u t| |u d S )NrS   rB   rL   )r   r   r  r  r   r  r   r  r  r)   r)   r*   r    s   z"TestZerosPolesGain.test_conversionN)r   r   r   r  r  r)   r)   r)   r*   r/    s    r/  c                   @   s   e Zd Zdd Zdd Zdd Zdd Zd	d
 Zdd Zdd Z	dd Z
dd Zdd Zdd Zdd Zdd Zdd Zdd Zdd  Zd!d" Zd#d$ Zd%d& Zd'd( Zd)d* Zd+d, Zd-S ).Test_abcd_normalizec                 C   sR   t ddgddgg| _t dgdgg| _t ddgg| _t dgg| _d S )Nr   r   r   r   r   r         @)r   rM   r4   r5   r   r   r
  r)   r)   r*   setup_method  s   z Test_abcd_normalize.setup_methodc                 C   s   t tt d S r   )r   r    r   r
  r)   r)   r*   test_no_matrix_fails  s   z(Test_abcd_normalize.test_no_matrix_failsc                 C   s    t ttddg| j| j| j d S )NrS   rU   )r   r    r   r5   r   r   r
  r)   r)   r*   test_A_nosquare_fails  s   z)Test_abcd_normalize.test_A_nosquare_failsc                 C       t tt| jddg| j| j d S NrU   r^   r   r    r   r4   r   r   r
  r)   r)   r*   test_AB_mismatch_fails     z*Test_abcd_normalize.test_AB_mismatch_failsc                 C   s$   t tt| j| jdgdgg| j d S )Nr   r   )r   r    r   r4   r5   r   r
  r)   r)   r*   test_AC_mismatch_fails  s   z*Test_abcd_normalize.test_AC_mismatch_failsc                 C   s    t tt| j| j| jddg d S )Nr1  r   )r   r    r   r4   r5   r   r
  r)   r)   r*   test_CD_mismatch_fails  s   
z*Test_abcd_normalize.test_CD_mismatch_failsc                 C   r5  r6  r7  r
  r)   r)   r*   test_BD_mismatch_fails  r9  z*Test_abcd_normalize.test_BD_mismatch_failsc                 C   sR   t | j| j| j| j\}}}}t|| j t|| j t|| j t|| j d S r   )r   r4   r5   r   r   r   r3   r4   r5   r   r   r)   r)   r*   "test_normalized_matrices_unchanged  s
   z6Test_abcd_normalize.test_normalized_matrices_unchangedc                 C   s   t | j| jddgd\}}}}t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  d S r  )r   r4   r5   r   r   r=  r)   r)   r*   r     s   zTest_abcd_normalize.test_shapesc                 C   s~   t d}t d}t| j||d\}}}}t|| j t|| t|| t|jd |jd  t|jd | jjd  d S )NrB   r   )r   r   r4   r5   r   r   rS   r   r   r   r4   r   r   )r3   B_D_r4   r5   r   r   r)   r)   r*    test_zero_dimension_is_not_none1  s   



z4Test_abcd_normalize.test_zero_dimension_is_not_none1c                 C   s|   t d}t d}t| j||d\}}}}t|| j t|| t|| t|jd |jd  t|jd |jd  d S )Nr?  )r   rB   r4   r5   r   r   rS   rA  )r3   rB  C_r4   r5   r   r   r)   r)   r*    test_zero_dimension_is_not_none2  s   



z4Test_abcd_normalize.test_zero_dimension_is_not_none2c                 C   sl   t | j| j| jd\}}}}t|jd |jd  t|jd |jd  t|j| jjd | jjd f d S )N)r5   r   r   r   rS   )r   r5   r   r   r   r   r=  r)   r)   r*   test_missing_A     $z"Test_abcd_normalize.test_missing_Ac                 C   sl   t | j| j| jd\}}}}t|jd |jd  t|jd |jd  t|j| jjd | jjd f d S )N)r4   r   r   r   rS   )r   r4   r   r   r   r   r=  r)   r)   r*   test_missing_B  rI  z"Test_abcd_normalize.test_missing_Bc                 C   sl   t | j| j| jd\}}}}t|jd |jd  t|jd |jd  t|j| jjd | jjd f d S )Nr@  r   rS   )r   r4   r5   r   r   r   r=  r)   r)   r*   test_missing_C  rI  z"Test_abcd_normalize.test_missing_Cc                 C   sl   t | j| j| jd\}}}}t|jd |jd  t|jd |jd  t|j| jjd | jjd f d S )NrE  r   rS   )r   r4   r5   r   r   r   r=  r)   r)   r*   test_missing_D  rI  z"Test_abcd_normalize.test_missing_Dc                 C   s   t | j| jd\}}}}t|jd |jd  t|jd |jd  t|jd |jd  t|j| jjd | jjd f t|j| jjd | jjd f d S )N)r   r   r   rS   )r   r   r   r   r   r=  r)   r)   r*   test_missing_AB  s    $z#Test_abcd_normalize.test_missing_ABc                 C   s   t | j| jd\}}}}t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  t|j| jjd | jjd f t|j| jjd | jjd f d S )N)r5   r   r   rS   )r   r5   r   r   r   r=  r)   r)   r*   test_missing_AC      $z#Test_abcd_normalize.test_missing_ACc                 C   s   t | j| jd\}}}}t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  t|j| jjd | jjd f t|j| jjd | jjd f d S )N)r5   r   r   rS   )r   r5   r   r   r   r=  r)   r)   r*   test_missing_AD  rO  z#Test_abcd_normalize.test_missing_ADc                 C   s   t | j| jd\}}}}t|jd |jd  t|jd |jd  t|jd |jd  t|jd |jd  t|j| jjd | jjd f t|j| jjd | jjd f d S )N)r4   r   r   rS   )r   r4   r   r   r   r=  r)   r)   r*   test_missing_BC  rO  z#Test_abcd_normalize.test_missing_BCc                 C   s   t tt| jd d S )N)r   )r   r    r   r   r
  r)   r)   r*   test_missing_ABC_fails  s   z*Test_abcd_normalize.test_missing_ABC_failsc                 C      t tt| j| jd d S )N)r4   r   )r   r    r   r4   r   r
  r)   r)   r*   test_missing_BD_fails     z)Test_abcd_normalize.test_missing_BD_failsc                 C   rS  )N)r4   r5   )r   r    r   r4   r5   r
  r)   r)   r*   test_missing_CD_fails  rU  z)Test_abcd_normalize.test_missing_CD_failsN)r   r   r   r2  r3  r4  r8  r:  r;  r<  r>  r   rD  rG  rH  rJ  rK  rL  rM  rN  rP  rQ  rR  rT  rV  r)   r)   r)   r*   r0    s.    

			r0  c                   @   sT   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d Z
dd ZdS )	Test_bodec                 C   sD   t dgddg}g d}t||d\}}}g d}t||dd d S )NrS   r  rS   rZ   r  r   )r   rT   r`   rf   r   r
   r   r   )r3   r   r   magphaseexpected_magr)   r)   r*   test_01  s
   zTest_bode.test_01c                 C   sD   t dgddg}g d}t||d\}}}g d}t||dd d S )NrS   r  rS   rZ   rY  )gig33333Ur   rZ  )r3   r   r   r[  r\  expected_phaser)   r)   r*   test_02(  s
   zTest_bode.test_02c                 C   sn   t dgddg}g d}t||d\}}}|d }t|j|t|j| }dtt| }t|| d S )NrS   rX  rY                ?g      4@)	r
   r   r   polyvalr   r   log10absr   )r3   r   r   r[  r\  jwr   r]  r)   r)   r*   test_034  s   zTest_bode.test_03c                 C   sv   t dgddg}g d}t||d\}}}|d }t|j|t|j| }t|j|jd tj	 }t
|| d S )NrS   rX  rY  rb  g     f@)r
   r   r   rc  r   r   arctan2r   r   pir   )r3   r   r   r[  r\  rf  r   r`  r)   r)   r*   test_04?  s   zTest_bode.test_04c                 C   sB   t dgddg}d}tdd|}t||d\}}}t|| d S NrS   rZ   rj   r   )r
   r   logspacer   r   )r3   r   r   
expected_wr   r[  r\  r)   r)   r*   test_05J  s
   zTest_bode.test_05c                 C   s4   t dgddg}t|dd\}}}t|d d d S NrS   r   rB   rl  g{Gz?)r
   r   r   r3   r   r   r[  r\  r)   r)   r*   test_06T  s   zTest_bode.test_06c                 C   s&   t dgg d}t|dd\}}}d S )NrS   )rS   r   r  rB   rl  )r
   r   rq  r)   r)   r*   test_07[  s   zTest_bode.test_07c                 C   sB   t g g dd}|jtdddd\}}}tt|ddd	 d S )
N)rY   ra   rf   rg   rh   rS   rT   rb   r  rY  i>   r   )r
   r   r   rm  r   minrq  r)   r)   r*   test_08a  s   zTest_bode.test_08c              	   C   s   t g d}t|j}t dgdgdgg}t g dg}t dgg}t }|t t||||}t	|dd\}}	}
W d    n1 sJw   Y  dt 
t dd|d    }t|	| d S )	Nr   r   r   r   r   r   r   r   r   r  rl     r]   )r   rM   r-   	companionr   r   r   r   r
   r   rd  sqrtr   )r3   r   r4   r5   r   r   r   r   r   r[  r\  expected_magnituder)   r)   r*   test_from_state_spaceg  s   
 zTest_bode.test_from_state_spaceN)r   r   r   r^  ra  rg  rj  ro  rr  rs  rv  r}  r)   r)   r)   r*   rW    s    
rW  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_freqrespc                 C   s\   t dgddg}g d}t||d\}}g d}g d}t|j|dd t|j|dd d S )NrS   r_  rY  )gGz?r   gׁsF?)MbXrE   r  r   r
   r   r   r   r   )r3   r   r   Hexpected_reexpected_imr)   r)   r*   test_output_manual~  s   z Test_freqresp.test_output_manualc                 C   sl   t dgddg}g d}t||d\}}|d }t|j|t|j| }t|j|j t|j|j d S )NrS   rX  rY  rb  )	r
   r   r   rc  r   r   r   r   r   r3   r   r   r  r  r9   r)   r)   r*   test_output  s   zTest_freqresp.test_outputc                 C   s@   t dgddg}d}tdd|}t||d\}}t|| d S rk  )r
   r   rm  r   r   )r3   r   r   rn  r   r  r)   r)   r*   test_freq_range  s
   zTest_freqresp.test_freq_rangec                 C   s2   t dgddg}t|dd\}}t|d d d S rp  )r
   r   r   )r3   r   r   r  r)   r)   r*   test_pole_zero  s   zTest_freqresp.test_pole_zeroc                 C   s   t g d}t|j}t dgdgdgg}t g dg}t dgg}t }|t t||||}t	|dd\}}	W d    n1 sIw   Y  |d }
ddd|
  d|
d   |
d	   }t
|	j|j t
|	j|j d S )
Nrw  r   r   rx  r  rl  rb  rB   rL   )r   rM   r-   rz  r   r   r   r   r
   r   r   r   r   )r3   r   r4   r5   r   r   r   r   r   r  r  r9   r)   r)   r*   r}    s   
$z#Test_freqresp.test_from_state_spacec                 C   sd   t g dgd dg}g d}t||d\}}|d }d|d d  }t|j|j t|j|j d S )NrU   r>   rS   rX  rY  rb  r  r  r)   r)   r*   test_from_zpk  s   zTest_freqresp.test_from_zpkN)	r   r   r   r  r  r  r  r}  r  r)   r)   r)   r*   r~  |  s    
r~  )r   r   ),r   numpyr   numpy.testingr   r   r   r   r   pytestr   r   scipy.signalr   r	   r
   r   r   r   r   r   r   r   r   r   r   r   scipy.signal._filter_designr   scipy.linalgr-   r+   r,   r   r   r   r  r  r  r,  r/  r0  rW  r~  r)   r)   r)   r*   <module>   s0    @
 Z ~GI  d