8000 Merge pull request #450 from roryyorke/rory/ss-repr-latex · python-control/python-control@6ed3f74 · GitHub
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Merge pull request #450 from roryyorke/rory/ss-repr-latex
Added IPython LaTeX representation method for StateSpace objects
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‎control/statesp.py

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@@ -74,6 +74,8 @@
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'statesp.use_numpy_matrix': False, # False is default in 0.9.0 and above
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'statesp.default_dt': None,
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'statesp.remove_useless_states': True,
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'statesp.latex_num_format': '.3g',
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'statesp.latex_repr_type': 'partitioned',
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}
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@@ -128,6 +130,33 @@ def _ssmatrix(data, axis=1):
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return arr.reshape(shape)
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def _f2s(f):
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"""Format floating point number f for StateSpace._repr_latex_.
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Numbers are converted to strings with statesp.latex_num_format.
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Inserts column separators, etc., as needed.
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"""
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fmt = "{:" + config.defaults['statesp.latex_num_format'] + "}"
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sraw = fmt.format(f)
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# significand-exponent
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se = sraw.lower().split('e')
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# whole-fraction
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wf = se[0].split('.')
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s = wf[0]
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if wf[1:]:
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s += r'.&\hspace{{-1em}}{frac}'.format(frac=wf[1])
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else:
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s += r'\phantom{.}&\hspace{-1em}'
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if se[1:]:
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s += r'&\hspace{{-1em}}\cdot10^{{{:d}}}'.format(int(se[1]))
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else:
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s += r'&\hspace{-1em}\phantom{\cdot}'
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return s
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class StateSpace(LTI):
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"""StateSpace(A, B, C, D[, dt])
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@@ -158,6 +187,24 @@ class StateSpace(LTI):
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time. The default value of 'dt' is None and can be changed by changing the
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value of ``control.config.defaults['statesp.default_dt']``.
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StateSpace instances have support for IPython LaTeX output,
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intended for pretty-printing in Jupyter notebooks. The LaTeX
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output can be configured using
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`control.config.defaults['statesp.latex_num_format']` and
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`control.config.defaults['statesp.latex_repr_type']`. The LaTeX output is
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tailored for MathJax, as used in Jupyter, and may look odd when
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typeset by non-MathJax LaTeX systems.
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`control.config.defaults['statesp.latex_num_format']` is a format string
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fragment, specifically the part of the format string after `'{:'`
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used to convert floating-point numbers to strings. By default it
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is `'.3g'`.
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`control.config.defaults['statesp.latex_repr_type']` must either be
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`'partitioned'` or `'separate'`. If `'partitioned'`, the A, B, C, D
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matrices are shown as a single, partitioned matrix; if
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`'separate'`, the matrices are shown separately.
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"""
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# Allow ndarray * StateSpace to give StateSpace._rmul_() priority
@@ -306,6 +353,136 @@ def __repr__(self):
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C=asarray(self.C).__repr__(), D=asarray(self.D).__repr__(),
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dt=(isdtime(self, strict=True) and ", {}".format(self.dt)) or '')
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def _latex_partitioned_stateless(self):
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"""`Partitioned` matrix LaTeX representation for stateless systems
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Model is presented as a matrix, D. No partition lines are shown.
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Returns
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-------
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s : string with LaTeX representation of model
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"""
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lines = [
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r'\[',
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r'\left(',
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(r'\begin{array}'
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+ r'{' + 'rll' * self.inputs + '}')
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]
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for Di in asarray(self.D):
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lines.append('&'.join(_f2s(Dij) for Dij in Di)
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+ '\\\\')
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lines.extend([
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r'\end{array}'
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r'\right)',
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r'\]'])
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return '\n'.join(lines)
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def _latex_partitioned(self):
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"""Partitioned matrix LaTeX representation of state-space model
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Model is presented as a matrix partitioned into A, B, C, and D
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parts.
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Returns
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-------
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s : string with LaTeX representation of model
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"""
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if self.states == 0:
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return self._latex_partitioned_stateless()
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lines = [
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r'\[',
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r'\left(',
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(r'\begin{array}'
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+ r'{' + 'rll' * self.states + '|' + 'rll' * self.inputs + '}')
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]
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for Ai, Bi in zip(asarray(self.A), asarray(self.B)):
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lines.append('&'.join([_f2s(Aij) for Aij in Ai]
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+ [_f2s(Bij) for Bij in Bi])
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+ '\\\\')
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lines.append(r'\hline')
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for Ci, Di in zip(asarray(self.C), asarray(self.D)):
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lines.append('&'.join([_f2s(Cij) for Cij in Ci]
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+ [_f2s(Dij) for Dij in Di])
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+ '\\\\')
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lines.extend([
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r'\end{array}'
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r'\right)',
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r'\]'])
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return '\n'.join(lines)
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def _latex_separate(self):
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"""Separate matrices LaTeX representation of state-space model
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Model is presented as separate, named, A, B, C, and D matrices.
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Returns
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-------
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s : string with LaTeX representation of model
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"""
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lines = [
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r'\[',
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r'\begin{array}{ll}',
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]
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def fmt_matrix(matrix, name):
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matlines = [name
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+ r' = \left(\begin{array}{'
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+ 'rll' * matrix.shape[1]
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+ '}']
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for row in asarray(matrix):
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matlines.append('&'.join(_f2s(entry) for entry in row)
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+ '\\\\')
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matlines.extend([
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r'\end{array}'
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r'\right)'])
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return matlines
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if self.states > 0:
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lines.extend(fmt_matrix(self.A, 'A'))
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lines.append('&')
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lines.extend(fmt_matrix(self.B, 'B'))
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lines.append('\\\\')
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lines.extend(fmt_matrix(self.C, 'C'))
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lines.append('&')
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lines.extend(fmt_matrix(self.D, 'D'))
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lines.extend([
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r'\end{array}',
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r'\]'])
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return '\n'.join(lines)
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def _repr_latex_(self):
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"""LaTeX representation of state-space model
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Output is controlled by config options statesp.latex_repr_type
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and statesp.latex_num_format.
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The output is primarily intended for Jupyter notebooks, which
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use MathJax to render the LaTeX, and the results may look odd
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when processed by a 'conventional' LaTeX system.
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Returns
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-------
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s : string with LaTeX representation of model
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"""
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if config.defaults['statesp.latex_repr_type'] == 'partitioned':
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return self._latex_partitioned()
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elif config.defaults['statesp.latex_repr_type'] == 'separate':
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return self._latex_separate()
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else:
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cfg = config.defaults['statesp.latex_repr_type']
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raise ValueError("Unknown statesp.latex_repr_type '{cfg}'".format(cfg=cfg))
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# Negation of a system
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def __neg__(self):
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"""Negate a state space system."""

‎control/tests/statesp_test.py

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@@ -20,6 +20,7 @@
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from control.tests.conftest import ismatarrayout, slycotonly
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from control.xferfcn import TransferFunction, ss2tf
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from .conftest import editsdefaults
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class TestStateSpace:
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"""Tests for the StateSpace class."""
@@ -840,3 +841,64 @@ def test_statespace_defaults(self, matarrayout):
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for k, v in _statesp_defaults.items():
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assert defaults[k] == v, \
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"{} is {} but expected {}".format(k, defaults[k], v)
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# test data for test_latex_repr below
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LTX_G1 = StateSpace([[np.pi, 1e100], [-1.23456789, 5e-23]],
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[[0], [1]],
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[[987654321, 0.001234]],
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[[5]])
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LTX_G2 = StateSpace([],
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[],
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[],
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[[1.2345, -2e-200], [-1, 0]])
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LTX_G1_REF = {
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'p3_p' : '\\[\n\\left(\n\\begin{array}{rllrll|rll}\n3.&\\hspace{-1em}14&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n-1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\hline\n9.&\\hspace{-1em}88&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}00123&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
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'p5_p' : '\\[\n\\left(\n\\begin{array}{rllrll|rll}\n3.&\\hspace{-1em}1416&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n-1.&\\hspace{-1em}2346&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\hline\n9.&\\hspace{-1em}8765&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}001234&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
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'p3_s' : '\\[\n\\begin{array}{ll}\nA = \\left(\\begin{array}{rllrll}\n3.&\\hspace{-1em}14&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}\\\\\n-1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}\\\\\n\\end{array}\\right)\n&\nB = \\left(\\begin{array}{rll}\n0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\\\\nC = \\left(\\begin{array}{rllrll}\n9.&\\hspace{-1em}88&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}00123&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n&\nD = \\left(\\begin{array}{rll}\n5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n\\]',
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'p5_s' : '\\[\n\\begin{array}{ll}\nA = \\left(\\begin{array}{rllrll}\n3.&\\hspace{-1em}1416&\\hspace{-1em}\\phantom{\\cdot}&1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{100}\\\\\n-1.&\\hspace{-1em}2346&\\hspace{-1em}\\phantom{\\cdot}&5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-23}\\\\\n\\end{array}\\right)\n&\nB = \\left(\\begin{array}{rll}\n0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\\\\nC = \\left(\\begin{array}{rllrll}\n9.&\\hspace{-1em}8765&\\hspace{-1em}\\cdot10^{8}&0.&\\hspace{-1em}001234&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n&\nD = \\left(\\begin{array}{rll}\n5\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n\\]',
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}
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LTX_G2_REF = {
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'p3_p' : '\\[\n\\left(\n\\begin{array}{rllrll}\n1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
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'p5_p' : '\\[\n\\left(\n\\begin{array}{rllrll}\n1.&\\hspace{-1em}2345&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\]',
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'p3_s' : '\\[\n\\begin{array}{ll}\nD = \\left(\\begin{array}{rllrll}\n1.&\\hspace{-1em}23&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n\\]',
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'p5_s' : '\\[\n\\begin{array}{ll}\nD = \\left(\\begin{array}{rllrll}\n1.&\\hspace{-1em}2345&\\hspace{-1em}\\phantom{\\cdot}&-2\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\cdot10^{-200}\\\\\n-1\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}&0\\phantom{.}&\\hspace{-1em}&\\hspace{-1em}\\phantom{\\cdot}\\\\\n\\end{array}\\right)\n\\end{array}\n\\]',
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}
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refkey_n = {None: 'p3', '.3g': 'p3', '.5g': 'p5'}
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refkey_r = {None: 'p', 'partitioned': 'p', 'separate': 's'}
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@pytest.mark.parametrize(" g, ref",
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[(LTX_G1, LTX_G1_REF),
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(LTX_G2, LTX_G2_REF)])
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@pytest.mark.parametrize("repr_type", [None, "partitioned", "separate"])
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@pytest.mark.parametrize("num_format", [None, ".3g", ".5g"])
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def test_latex_repr(g, ref, repr_type, num_format, editsdefaults):
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"""Test `._latex_repr_` with different config values
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This is a 'gold image' test, so if you change behaviour,
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you'll need to regenerate the reference results.
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Try something like:
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control.reset_defaults()
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print(f'p3_p : {g1._repr_latex_()!r}')
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"""
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from control import set_defaults
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if num_format is not None:
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set_defaults('statesp', latex_num_format=num_format)
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if repr_type is not None:
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set_defaults('statesp', latex_repr_type=repr_type)
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refkey = "{}_{}".format(refkey_n[num_format], refkey_r[repr_type])
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assert g._repr_latex_() == ref[refkey]
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