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Fix TimeResponseData.to_pandas() for multi-trace responses #1088

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merged 3 commits into from
Jan 2, 2025
Merged

Fix TimeResponseData.to_pandas() for multi-trace responses #1088

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448fb62
add unit test showing failure in #1087
murrayrm Dec 30, 2024
96d3228
fix TimeResponseData.to_pandas() for multi-trace responses
murrayrm Dec 31, 2024
7707ea8
update unit test per @slivinsgston review
murrayrm Jan 2, 2025
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36 changes: 32 additions & 4 deletions control/tests/timeresp_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1247,13 +1247,14 @@ def test_to_pandas():
np.testing.assert_equal(df['x[1]'], resp.states[1])

# Change the time points
sys = ct.rss(2, 1, 1)
sys = ct.rss(2, 1, 2)
T = np.linspace(0, timepts[-1]/2, timepts.size * 2)
resp = ct.input_output_response(sys, timepts, np.sin(timepts), t_eval=T)
resp = ct.input_output_response(
sys, timepts, [np.sin(timepts), 0], t_eval=T)
df = resp.to_pandas()
np.testing.assert_equal(df['time'], resp.time)
np.testing.assert_equal(df['u[0]'], resp.inputs)
np.testing.assert_equal(df['y[0]'], resp.outputs)
np.testing.assert_equal(df['u[0]'], resp.inputs[0])
np.testing.assert_equal(df['y[0]'], resp.outputs[0])
np.testing.assert_equal(df['x[0]'], resp.states[0])
np.testing.assert_equal(df['x[1]'], resp.states[1])

Expand All @@ -1265,6 +1266,33 @@ def test_to_pandas():
np.testing.assert_equal(df['u[0]'], resp.inputs)
np.testing.assert_equal(df['y[0]'], resp.inputs * 5)

# Multi-trace data
# https://github.com/python-control/python-control/issues/1087
model = ct.rss(
states=['x0', 'x1'], outputs=['y0', 'y1'],
inputs=['u0', 'u1'], name='My Model')
T = np.linspace(0, 10, 100, endpoint=False)
X0 = np.zeros(model.nstates)

res = ct.step_response(model, T=T, X0=X0, input=0) # extract single trace
df = res.to_pandas()
np.testing.assert_equal(
df[df['trace'] == 'From u0']['time'], res.time)
np.testing.assert_equal(
df[df['trace'] == 'From u0']['u0'], res.inputs['u0', 0])
np.testing.assert_equal(
df[df['trace'] == 'From u0']['y1'], res.outputs['y1', 0])

res = ct.step_response(model, T=T, X0=X0) # all traces
df = res.to_pandas()
for i, label in enumerate(res.trace_labels):
np.testing.assert_equal(
df[df['trace'] == label]['time'], res.time)
np.testing.assert_equal(
df[df['trace'] == label]['u1'], res.inputs['u1', i])
np.testing.assert_equal(
df[df['trace'] == label]['y0'], res.outputs['y0', i])


@pytest.mark.skipif(pandas_check(), reason="pandas installed")
def test_no_pandas():
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21 changes: 15 additions & 6 deletions control/timeresp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -718,25 +718,34 @@ def __len__(self):
def to_pandas(self):
"""Convert response data to pandas data frame.

Creates a pandas data frame using the input, output, and state
labels for the time response.
Creates a pandas data frame using the input, output, and state labels
for the time response. The column labels are given by the input and
output (and state, when present) labels, with time labeled by 'time'
and traces (for multi-trace responses) labeled by 'trace'.

"""
if not pandas_check():
raise ImportError("pandas not installed")
import pandas

# Create a dict for setting up the data frame
data = {'time': self.time}
data = {'time': np.tile(
self.time, self.ntraces if self.ntraces > 0 else 1)}
if self.ntraces > 0:
data['trace'] = np.hstack([
np.full(self.time.size, label) for label in self.trace_labels])
if self.ninputs > 0:
data.update(
{name: self.u[i] for i, name in enumerate(self.input_labels)})
{name: self.u[i].reshape(-1)
for i, name in enumerate(self.input_labels)})
if self.noutputs > 0:
data.update(
{name: self.y[i] for i, name in enumerate(self.output_labels)})
{name: self.y[i].reshape(-1)
for i, name in enumerate(self.output_labels)})
if self.nstates > 0:
data.update(
{name: self.x[i] for i, name in enumerate(self.state_labels)})
{name: self.x[i].reshape(-1)
for i, name in enumerate(self.state_labels)})

return pandas.DataFrame(data)

Expand Down
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