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Title: Prepare for removal of dependency on numpy.matrix class by murrayrm · Pull Request #292 · python-control/python-control · GitHub

Open Graph Title: Prepare for removal of dependency on numpy.matrix class by murrayrm · Pull Request #292 · python-control/python-control

X Title: Prepare for removal of dependency on numpy.matrix class by murrayrm · Pull Request #292 · python-control/python-control

Description: This PR prepares for removal the dependency of the control package on the numpy.matrix class, which is planned for deprecation at some point in the future. To handle this, a number of changes have been made: A new StateSpaceMatrix class, derived from numpy.ndarray, was created that is used to store the A, B, C, D matrices for a StateSpace system. This class maintains elements as a 2D matrix, so B[:,1] returns a column matrix (shape = (n, 1)). As an ndarray, this expression would normally return a 1D array. The StateSpaceMatrix class also overrides the * and ^ operators to give matrix multiplication and matrix powers (same as numpy.matlab does). This gives better compatibility with (user) code that was using those constructs to operate directly on matrices associated with a system. A new unit test file for the class is also included. There is also a function ssmatrix() that can be used to create a StateSpaceMatrix object (similar to the use of numpy.array to create an numpy.ndarray object). Functions that used to return numpy.matrix objects now return a user-configurable type, set using the use_numpy_matrix or set_ss_matrix_type functions. By default the return type is currently numpy.matrix (for backward compatibility), but calling use_numpy_matrix(False) changes the return type to StateSpaceMatrix. Using set_ss_matrix_type, it is possible to use other subclasses derived from numpy.ndarray (including ndarray itself). A UserWarning is issued whenever numpy.matrix is set or used as the output type. The code in the package as been updated to remove unneeded dependencies on the numpy.matrix class. This mainly involved changing numpy.matrix to numpy.array, but in some cases some additional changes were needed because of the differences between matrices and numpy. With the exception of extracting elements of submatrices, the main package code does not explicitly use the functionality of the StateSpaceMatrix class, so the main use of this class is to provide some backward compatibility for user code that users * and ^ operators (which is fairly common in my own code). All unit test code (in control/tests) has been scrubbed of unnecessary dependence on the numpy.matrix class (except for testing that warning messages are generated and a few other checks for backward compatibility). I did some PEP8 cleaning on statesp.py since there were lots of changes in this file already. The changes were tested with the old unit test files, the new unit test files, and all examples and everything continues to work across all of those variants. Net impact of this PR is that all numpy.matrix deprecation warnings can be removed by calling use_numpy_matrix(False), addressing issue #233. This behavior can be made the default in a future release or when numpy.matrix goes away. There are two situations in which the numpy.matrix deprecation warning can still appear: For backward compatibility, I set things up so that if you pass the StateSpaceMatrix constructor a string then it will call numpy.matrix. This allows all old examples to work without change (but does generate a warning message). It's possible that if a user creates a numpy.matrix object to one of the python-control functions that it could end up generating a copy and that could trigger a warning message. I figure that is the user's fault -:). (Note: this description was updated on 8 Jun 2019 to reflect the changes made in response to comments and responses below.)

Open Graph Description: This PR prepares for removal the dependency of the control package on the numpy.matrix class, which is planned for deprecation at some point in the future. To handle this, a number of changes have...

X Description: This PR prepares for removal the dependency of the control package on the numpy.matrix class, which is planned for deprecation at some point in the future. To handle this, a number of changes have...

Opengraph URL: https://github.com/python-control/python-control/pull/292

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Prepare for removal of dependency on numpy.matrix class https://github.com/python-control/python-control/pull/292/changes#top
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a4986b6 add StateSpaceMatrix class murrayrm Apr 16, 2019 https://github.com/python-control/python-control/pull/292/commits/a4986b653a7a3e5f4df514cb5150d0bc8adae0ef
f010542 remove np.matrix dependencies from module code murrayrm Apr 16, 2019 https://github.com/python-control/python-control/pull/292/commits/f010542d86d34d03269170bb740a04c7db355e86
afc4ef4 remove np.matrix dependencies from tests murrayrm Apr 16, 2019 https://github.com/python-control/python-control/pull/292/commits/afc4ef48da7d22384aea6a7436d0ec0b96a590f7
14d5c3a add matrix power operation (**) to StateSpaceMatrix murrayrm Apr 16, 2019 https://github.com/python-control/python-control/pull/292/commits/14d5c3a7c28833a7c91a0d9fa1a88cda969f03be
08f1c51 code cleanup (including PEP8) murrayrm Apr 16, 2019 https://github.com/python-control/python-control/pull/292/commits/08f1c51915ded86ba1ed1c3b97f2e2b63f4a9bf9
ce42c1c Fix typo in control/statesp.py moorepants Apr 16, 2019 https://github.com/python-control/python-control/pull/292/commits/ce42c1ceb94d6f3e070b2183c87e83c473208fcd
fbc58ec add return_type keyword to functions that previously returned np.matrix murrayrm Apr 17, 2019 https://github.com/python-control/python-control/pull/292/commits/fbc58ecc5e7e9932b86f491925afdaa321451797
2dafd5c Merge branch 'np.matrix' of https://github.com/murrayrm/python-contro… murrayrm Apr 17, 2019 https://github.com/python-control/python-control/pull/292/commits/2dafd5c0973feec180eeb20347edbbbe2916e909
e492f2b Merge branch 'master' into np.matrix murrayrm May 19, 2019 https://github.com/python-control/python-control/pull/292/commits/e492f2b1c0bd3eeb0d9fc3b77033799968269eca
2304807 Merge updates to master and update additional unit tests murrayrm May 31, 2019 https://github.com/python-control/python-control/pull/292/commits/23048073c85fe477f3b4094c0b67d0db8225095d
fe528a8 merge latest master + fix simple conflict murrayrm Jun 1, 2019 https://github.com/python-control/python-control/pull/292/commits/fe528a85b99f271a25fb337fde36867a48d2fc11
d93ea5e implement remaining dunder methods for StateSpace murrayrm Jun 8, 2019 https://github.com/python-control/python-control/pull/292/commits/d93ea5edf35c32fc293a229561192d34adaaaab8
dc333a6 Create config options for using numpy.matrix as state space return type murrayrm Jun 8, 2019 https://github.com/python-control/python-control/pull/292/commits/dc333a6e6ce66e783d720b72d3336d9b83cabfbe
4bba186 skip np.matrix warning checks in py2.7 due to bug in repeated warnings murrayrm Jun 8, 2019 https://github.com/python-control/python-control/pull/292/commits/4bba186789e587d4b23a1ce96ac93ea5815dbe9d
a5126f8 TRV: docstring updates murrayrm Jun 8, 2019 https://github.com/python-control/python-control/pull/292/commits/a5126f8621fcb995429dae3abf8114884f048665
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https://github.com/python-control/python-control/pull/292/changes#diff-cacf59417131c19becd6fba4dde9e979bed49ce572eb24f0f62bd2af460d83d1
control/mateqn.pyhttps://github.com/python-control/python-control/pull/292/changes#diff-063352893924b087df21a9816e0ee3e35db0bf1ad96e263c6c8f4fa5981995aa
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https://github.com/python-control/python-control/pull/292/changes#diff-063352893924b087df21a9816e0ee3e35db0bf1ad96e263c6c8f4fa5981995aa
https://github.com/python-control/python-control/pull/292/changes#diff-063352893924b087df21a9816e0ee3e35db0bf1ad96e263c6c8f4fa5981995aa
https://github.com/python-control/python-control/pull/292/changes#diff-063352893924b087df21a9816e0ee3e35db0bf1ad96e263c6c8f4fa5981995aa
https://github.com/python-control/python-control/pull/292/changes#diff-063352893924b087df21a9816e0ee3e35db0bf1ad96e263c6c8f4fa5981995aa
control/modelsimp.pyhttps://github.com/python-control/python-control/pull/292/changes#diff-47ef25709027cfe03ce27958643e45485de7bf664578a305643715bdceba9b78
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https://github.com/python-control/python-control/pull/292/changes#diff-47ef25709027cfe03ce27958643e45485de7bf664578a305643715bdceba9b78
https://github.com/python-control/python-control/pull/292/changes#diff-47ef25709027cfe03ce27958643e45485de7bf664578a305643715bdceba9b78
https://github.com/python-control/python-control/pull/292/changes#diff-47ef25709027cfe03ce27958643e45485de7bf664578a305643715bdceba9b78
https://github.com/python-control/python-control/pull/292/changes#diff-47ef25709027cfe03ce27958643e45485de7bf664578a305643715bdceba9b78
https://github.com/python-control/python-control/pull/292/changes#diff-47ef25709027cfe03ce27958643e45485de7bf664578a305643715bdceba9b78
https://github.com/python-control/python-control/pull/292/changes#diff-47ef25709027cfe03ce27958643e45485de7bf664578a305643715bdceba9b78
https://github.com/python-control/python-control/pull/292/changes#diff-47ef25709027cfe03ce27958643e45485de7bf664578a305643715bdceba9b78
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