Compatibility with new versions of numpy and scipy

resources/blocks/rcpBlk/linear/cssBlk.py

@@ -1,6 +1,6 @@
 from supsisim.RCPblk import RCPblk
 from control import tf2ss, TransferFunction
-from numpy import reshape, hstack, mat, shape, size, zeros
+from numpy import reshape, hstack, asmatrix, shape, size, zeros
 
 def cssBlk(pin,pout,sys,X0=[]):
     """ 
@@ -43,15 +43,15 @@ def cssBlk(pin,pout,sys,X0=[]):
     if(size(X0) == nx):
         X0 = reshape(X0,(1,size(X0)),'C')
     else:
-        X0 = mat(zeros((1,nx)))
+        X0 = asmatrix(zeros((1,nx)))
 
     indA = 1
     indB = indA + nx*nx
     indC = indB + nx*ni
     indD = indC + nx*no
     indX = indD + ni*no
     intPar = [nx,ni,no, indA, indB, indC, indD, indX]
-    realPar = hstack((mat([0.0]),a,b,c,d,X0))
+    realPar = hstack((asmatrix([0.0]),a,b,c,d,X0))
 
     if d.any() == True:
         uy = 1

resources/blocks/rcpBlk/linear/dssBlk.py

@@ -1,6 +1,6 @@
 from supsisim.RCPblk import RCPblk
 from control import tf2ss, TransferFunction
-from numpy import reshape, hstack, mat, shape, size, zeros
+from numpy import reshape, hstack, asmatrix, shape, size, zeros
 
 def dssBlk(pin,pout,sys,X0=[]):
     """
@@ -44,7 +44,7 @@ def dssBlk(pin,pout,sys,X0=[]):
     if(size(X0) == nx):
         X0 = reshape(X0,(1,size(X0)),'C')
     else:
-        X0 = mat(zeros((1,nx)))
+        X0 = asmatrix(zeros((1,nx)))
 
     indA = 0
     indB = nx*nx

resources/blocks/rcpBlk/linear/matmultBlk.py

@@ -1,6 +1,6 @@
 from supsisim.RCPblk import RCPblk
 from control import tf2ss, TransferFunction
-from numpy import reshape, shape, size, mat
+from numpy import reshape, shape, size, asmatrix
 
 def matmultBlk(pin, pout, Gains):
     """
@@ -21,7 +21,7 @@ def matmultBlk(pin, pout, Gains):
 
     """
 
-    Gains = mat(Gains)
+    Gains = asmatrix(Gains)
     n,m = shape(Gains)
     if(size(pin) != m):
         raise ValueError("Block should have %i input port; received %i." % (m,size(pin)))

toolbox/supsictrl/supsictrl/ctrl_utils.py

@@ -262,9 +262,9 @@ def set_aw(sys,poles):
     """
     sys = ct.ss(sys)
     Ts = sys.dt
-    den_old = sp.poly(la.eigvals(sys.A))
+    den_old = np.poly(la.eigvals(sys.A))
     sys = ct.tf(sys)
-    den = sp.poly(poles)
+    den = np.poly(poles)
     tmp =  ct.tf(den_old,den,sys.dt)
     sys_in = tmp*sys
     sys_in = sys_in.minreal()

toolbox/supsisim/supsisim/RCPgen.py

@@ -15,7 +15,7 @@
   sch2blks       - Generate block list fron schematic
   
 """
-from numpy import  nonzero, ones, mat, size, array, zeros
+from numpy import  nonzero, ones, asmatrix, size, array, zeros
 from os import environ
 import copy
 import sys
@@ -99,7 +99,7 @@ def genCode(model, Tsamp, blocks, rkstep = 10):
         blk = Blocks[n]
         if (size(blk.realPar) != 0):
             strLn = "static double realPar_" + str(n) +"[] = {"
-            strLn += str(mat(blk.realPar).tolist())[2:-2] + "};\n"
+            strLn += str(asmatrix(blk.realPar).tolist())[2:-2] + "};\n"
             strLn += "static char *realParNames_" + str(n) + "[] = {"
             tmp = 0
             if (size(blk.realPar) != size(blk.realParNames)):
@@ -118,7 +118,7 @@ def genCode(model, Tsamp, blocks, rkstep = 10):
             f.write(strLn)
         if (size(blk.intPar) != 0):
             strLn = "static int intPar_" + str(n) +"[] = {"
-            strLn += str(mat(blk.intPar).tolist())[2:-2] + "};\n"
+            strLn += str(asmatrix(blk.intPar).tolist())[2:-2] + "};\n"
             strLn += "static char *intParNames_" + str(n) + "[] = {"
             tmp = 0
             for i in range(0, size(blk.intPar)):
@@ -129,7 +129,7 @@ def genCode(model, Tsamp, blocks, rkstep = 10):
             strLn += "};\n"
             f.write(strLn)
         strLn = "static int nx_" + str(n) +"[] = {"
-        strLn += str(mat(blk.nx).tolist())[2:-2] + "};\n"
+        strLn += str(asmatrix(blk.nx).tolist())[2:-2] + "};\n"
         f.write(strLn)
     f.write("\n")