refactoring part 2

rssalessio · rssalessio · commit 156d74115a4e · 2021-01-06T22:19:19.000+01:00
diff --git a/README.md b/README.md
@@ -1,4 +1,4 @@
-# PythonVRFT Library
+# PythonVRFT Library - Version 0.0.3
 VRFT Adaptive Control Library written in Python.
 
 **Author**: Alessio Russo (alessior.wordpress.com - russo.alessio@outlook.com)
@@ -13,13 +13,13 @@ Run the following command from  root folder:
 ```sh
 pip install . 
 ``` 
-Dependencies: numpy, scipy, control
+Dependencies: numpy, scipy
 
 Tests
 ------
 To execute tests run the following command
 ```sh
-python setup.py test
+python -m unittest
 ``` 
 
 Examples
@@ -28,14 +28,9 @@ Examples are located in the examples/ folder. At the moment only 1 example is av
 
 Objectives
 ------
-- [**DONE**, 26.03.2017] Implement the basic VRFT algorithm (1 DOF. offline, linear controller, controller expressed as scalar product theta*f(z))
+- [**DONE - V0.0.2**][26.03.2017] Implement the basic VRFT algorithm (1 DOF. offline, linear controller, controller expressed as scalar product theta*f(z))
+- [**DONE - V0.0.3**][05.01.2020] Code refactoring and conversion to Python 3; Removed support for Python Control library.
 - [**TODO**] Add Documentation and Latex formulas
-- [**TODO**] Calculate best coefficients (based on H2 norm, with weights) given controller structure, reference system and actual system model. Show results.
-- [**TODO**] Modifications to LS (forgetting factor, covariance, ...)
-- [**TODO**] Implement  multiple DOF, sensitivity analysis
-- [**TODO**] Implement online version
-- [**TODO**] Generalize to other kind of controllers
-- [**TODO**] Advanced work (non linear systems ?)
-
-
-
+- [**TODO**] Add MIMO Support
+- [**TODO**] Add IV Support
+- [**TODO**] Generalize to other kind of controllers (e.g., neural nets)
diff --git a/examples/.ipynb_checkpoints/notebook_example_1-checkpoint.ipynb b/examples/.ipynb_checkpoints/notebook_example_1-checkpoint.ipynb
@@ -0,0 +1,6 @@
+{
+ "cells": [],
+ "metadata": {},
+ "nbformat": 4,
+ "nbformat_minor": 4
+}
diff --git a/examples/2_example.png b/examples/2_example.png
diff --git a/examples/2_example.py b/examples/2_example.py
diff --git a/examples/notebook_example_1.ipynb b/examples/notebook_example_1.ipynb
diff --git a/setup.py b/setup.py
@@ -9,7 +9,7 @@
 	author = 'Alessio Russo',
 	author_email = 'alessior@kth.se',
 	license='GPL3',
-	packages=['vrft', 'test', 'vrft.utilities', 'vrft.vrft'],
+	packages=['vrft', 'test'],
 	zip_safe=False,
 	install_requires = [
 		'scipy',
diff --git a/test/test_iddata.py b/test/test_iddata.py
@@ -1,5 +1,5 @@
 from unittest import TestCase
-from vrft.utilities.iddata import iddata
+from vrft.iddata import iddata
 import numpy as np
 
 class TestIDData(TestCase):
diff --git a/test/test_reference.py b/test/test_reference.py
@@ -1,7 +1,7 @@
 from unittest import TestCase
-from vrft.utilities.iddata import *
-from vrft.utilities.utils import *
-from vrft.vrft.vrft_algo import *
+from vrft.iddata import *
+from vrft.utils import *
+from vrft.vrft_algo import *
 import numpy as np
 import scipy.signal as scipysig
 
diff --git a/test/test_utils.py b/test/test_utils.py
@@ -1,6 +1,7 @@
 from unittest import TestCase
-from vrft.utilities.utils import *
-from vrft.vrft.vrft_algo import virtualReference
+from vrft.utils import *
+from vrft.extended_tf import ExtendedTF
+from vrft.vrft_algo import virtualReference
 import numpy as np
 import scipy.signal as scipysig
 
diff --git a/test/test_vrft.py b/test/test_vrft.py
@@ -1,7 +1,7 @@
 from unittest import TestCase
-from vrft.utilities.iddata import *
-from vrft.vrft.vrft_algo import *
-from vrft.utilities.utils import ExtendedTF
+from vrft.iddata import *
+from vrft.vrft_algo import *
+from vrft.extended_tf import ExtendedTF
 import numpy as np
 import scipy.signal as scipysig
 
diff --git a/vrft/__init__.py b/vrft/__init__.py
@@ -1,3 +1,4 @@
-
-from .utilities import *
-from .vrft import *
+from .iddata import *
+from .extended_tf import *
+from .utils import *
+from .vrft_algo import *
diff --git a/vrft/extended_tf.py b/vrft/extended_tf.py
@@ -9,56 +9,56 @@
 
 
 class ExtendedTF(scipysig.ltisys.TransferFunctionDiscrete):
-    def __init__(self, num, den, dt):
+    def __init__(self, num: np.ndarray, den: np.ndarray, dt: float):
         self._dt = dt
         super().__init__(num, den, dt=dt)
 
     def __neg__(self):
         return ExtendedTF(-self.num, self.den, dt=self._dt)
 
-    def __floordiv__(self,other):
+    def __floordiv__(self, other):
         # can't make sense of integer division right now
         return NotImplemented
 
-    def __mul__(self,other):
+    def __mul__(self, other):
         if type(other) in [int, float]:
             return ExtendedTF(self.num*other, self.den, dt=self._dt)
         elif type(other) in [TransFun, ExtendedTF]:
-            numer = polymul(self.num,other.num)
-            denom = polymul(self.den,other.den)
-            return ExtendedTF(numer,denom, dt=self._dt)
+            numer = polymul(self.num, other.num)
+            denom = polymul(self.den, other.den)
+            return ExtendedTF(numer, denom, dt=self._dt)
 
-    def __truediv__(self,other):
+    def __truediv__(self, other):
         if type(other) in [int, float]:
             return ExtendedTF(self.num,self.den*other, dt=self._dt)
         if type(other) in [TransFun, ExtendedTF]:
-            numer = polymul(self.num,other.den)
-            denom = polymul(self.den,other.num)
-            return ExtendedTF(numer,denom, dt=self._dt)
+            numer = polymul(self.num, other.den)
+            denom = polymul(self.den, other.num)
+            return ExtendedTF(numer, denom, dt=self._dt)
 
-    def __rtruediv__(self,other):
+    def __rtruediv__(self, other):
         if type(other) in [int, float]:
-            return ExtendedTF(other*self.den,self.num, dt=self._dt)
+            return ExtendedTF(other*self.den, self.num, dt=self._dt)
         if type(other) in [TransFun, ExtendedTF]:
-            numer = polymul(self.den,other.num)
-            denom = polymul(self.num,other.den)
-            return ExtendedTF(numer,denom, dt=self._dt)
+            numer = polymul(self.den, other.num)
+            denom = polymul(self.num, other.den)
+            return ExtendedTF(numer, denom, dt=self._dt)
 
     def __add__(self,other):
         if type(other) in [int, float]:
-            return ExtendedTF(polyadd(self.num,self.den*other), self.den, dt=self._dt)
+            return ExtendedTF(polyadd(self.num, self.den*other), self.den, dt=self._dt)
         if type(other) in [TransFun, type(self)]:
             if np.all(self.den == other.den):
                 numer = polyadd(self.num, other.num)
                 denom = self.den
             else:
-                numer = polyadd(polymul(self.num,other.den),polymul(self.den,other.num))
-                denom = polymul(self.den,other.den)
-            return ExtendedTF(numer,denom, dt=self._dt)
+                numer = polyadd(polymul(self.num,other.den), polymul(self.den,other.num))
+                denom = polymul(self.den, other.den)
+            return ExtendedTF(numer, denom, dt=self._dt)
 
-    def __sub__(self,other):
+    def __sub__(self, other):
         if type(other) in [int, float]:
-            return ExtendedTF(polyadd(self.num,-self.den*other),self.den, dt=self._dt)
+            return ExtendedTF(polyadd(self.num, -self.den*other), self.den, dt=self._dt)
         if type(other) in [TransFun, type(self)]:
             if np.all(self.den == other.den):
                 numer = polyadd(self.num, -other.num)
@@ -68,17 +68,17 @@ def __sub__(self,other):
                 denom = polymul(self.den,other.den)
             return ExtendedTF(numer,denom, dt=self._dt)
 
-    def __rsub__(self,other):
+    def __rsub__(self, other):
         if type(other) in [int, float]:
-            return ExtendedTF(polyadd(-self.num,self.den*other),self.den, dt=self._dt)
+            return ExtendedTF(polyadd(-self.num, self.den*other), self.den, dt=self._dt)
         if type(other) in [TransFun, type(self)]:
             if np.all(self.den == other.den):
                 numer = polyadd(self.num, -other.num)
                 denom = self.den
             else:
-                numer = polyadd(polymul(self.num,other.den),-polymul(self.den,other.num))
+                numer = polyadd(polymul(self.num,other.den), -polymul(self.den,other.num))
                 denom = polymul(self.den,other.den)
-            return ExtendedTF(numer,denom, dt=self._dt)
+            return ExtendedTF(numer, denom, dt=self._dt)
 
     def feedback(self):
         num = self.num
diff --git a/vrft/utils.py b/vrft/utils.py
@@ -1,12 +1,7 @@
-from __future__ import division
-
 import numpy as np
 import scipy.signal as scipysig
 from .iddata import iddata
 
-from scipy.signal.ltisys import TransferFunction as TransFun
-from numpy import polymul, polyadd
-
 def Doperator(p: int, q: int, x: float) -> np.ndarray:
     D = np.zeros((p * q, q))
     for i in range(q):
diff --git a/vrft/vrft_algo.py b/vrft/vrft_algo.py
@@ -1,5 +1,6 @@
-from vrft.utilities.iddata import iddata
-from vrft.utilities.utils import systemOrder, checkSystem, filter_iddata, deconvolve_signal
+from vrft.iddata import iddata
+from vrft.utils import systemOrder, checkSystem, \
+    filter_iddata
 import numpy as np
 import scipy.signal as scipysig
 
@@ -94,22 +95,15 @@ def control_response(data: iddata, error: np.ndarray, control: list):
     return phi
 
 def compute_vrft(data: iddata, refModel: scipysig.dlti, control: list, L: scipysig.dlti):
-    # import pdb
-    # import matplotlib.pyplot as plt
-    # pdb.set_trace()
+
     data = filter_iddata(data, L)
     r, n = virtualReference(data,
                          refModel.num,
                          refModel.den)
-    # r2=deconvolve_signal(refModel, data.y, data.ts)
-    # plt.plot(r)
-    # plt.plot(r2)
-    # plt.show()
 
     phi = control_response(data, np.subtract(r, data.y[:n]), control)
     theta, phi = calc_minimum(data, phi)
     loss = compute_vrft_loss(data, phi, theta)
-    print(phi)
-    #theta[0] = -theta[0]
+
     final_control = np.dot(theta, control)
     return theta, r, phi, loss, final_control
