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change u == 0 test to avoid py3.8+ syntax warning #580

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merged 1 commit into from
Mar 20, 2021
Merged

change u == 0 test to avoid py3.8+ syntax warning #580

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8 changes: 4 additions & 4 deletions control/statesp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1238,7 +1238,7 @@ def dcgain(self, warn_infinite=False):
"""
return self._dcgain(warn_infinite)

def dynamics(self, t, x, u=0):
def dynamics(self, t, x, u=None):
"""Compute the dynamics of the system

Given input `u` and state `x`, returns the dynamics of the state-space
Expand Down Expand Up @@ -1274,7 +1274,7 @@ def dynamics(self, t, x, u=0):
x = np.reshape(x, (-1, 1)) # force to a column in case matrix
if np.size(x) != self.nstates:
raise ValueError("len(x) must be equal to number of states")
if u is 0:
if u is None:
return self.A.dot(x).reshape((-1,)) # return as row vector
else: # received t, x, and u, ignore t
u = np.reshape(u, (-1, 1)) # force to a column in case matrix
Expand All @@ -1283,7 +1283,7 @@ def dynamics(self, t, x, u=0):
return self.A.dot(x).reshape((-1,)) \
+ self.B.dot(u).reshape((-1,)) # return as row vector

def output(self, t, x, u=0):
def output(self, t, x, u=None):
"""Compute the output of the system

Given input `u` and state `x`, returns the output `y` of the
Expand Down Expand Up @@ -1317,7 +1317,7 @@ def output(self, t, x, u=0):
if np.size(x) != self.nstates:
raise ValueError("len(x) must be equal to number of states")

if u is 0:
if u is None:
return self.C.dot(x).reshape((-1,)) # return as row vector
else: # received t, x, and u, ignore t
u = np.reshape(u, (-1, 1)) # force to a column in case matrix
Expand Down