Switch to python3 and scipy from slycot
Turns out we need python3 matplotlib to make scipy work well enough to
place the poles correctly for our systems. Rather than do it piecemeal,
do it all at once.
This includes a python opencv upgrade too to support the new python, and
a matplotlib upgrade.
Change-Id: Ic7517b5ebbfdca9cc90ae6a61d86b474f2f21b29
diff --git a/frc971/control_loops/python/polytope_test.py b/frc971/control_loops/python/polytope_test.py
index f5e4783..68401c2 100755
--- a/frc971/control_loops/python/polytope_test.py
+++ b/frc971/control_loops/python/polytope_test.py
@@ -1,4 +1,4 @@
-#!/usr/bin/python
+#!/usr/bin/python3
import numpy
from numpy.testing import *
@@ -153,39 +153,39 @@
def test_few_constraints_odd_constraint_even_dims_str(self):
"""Tests printing out the set with odd constraints and even dimensions."""
self.MakePWithDims(num_constraints=5, num_dims=2)
- self.assertEqual('[[ 0. 0.] [[ 0.] \n'
- ' [ 0. 0.] [[x0] [ 0.] \n'
- ' [ 0. 0.] [x1]] <= [ 0.] \n'
- ' [ 0. 0.] [ 0.] \n'
- ' [ 0. 0.]] [ 0.]] ',
+ self.assertEqual('[[0. 0.] [[0.] \n'
+ ' [0. 0.] [[x0] [0.] \n'
+ ' [0. 0.] [x1]] <= [0.] \n'
+ ' [0. 0.] [0.] \n'
+ ' [0. 0.]] [0.]] ',
str(self.p))
def test_few_constraints_odd_constraint_small_dims_str(self):
"""Tests printing out the set with odd constraints and odd dimensions."""
self.MakePWithDims(num_constraints=5, num_dims=1)
- self.assertEqual('[[ 0.] [[ 0.] \n'
- ' [ 0.] [ 0.] \n'
- ' [ 0.] [[x0]] <= [ 0.] \n'
- ' [ 0.] [ 0.] \n'
- ' [ 0.]] [ 0.]] ',
+ self.assertEqual('[[0.] [[0.] \n'
+ ' [0.] [0.] \n'
+ ' [0.] [[x0]] <= [0.] \n'
+ ' [0.] [0.] \n'
+ ' [0.]] [0.]] ',
str(self.p))
def test_few_constraints_odd_constraint_odd_dims_str(self):
"""Tests printing out the set with odd constraints and odd dimensions."""
self.MakePWithDims(num_constraints=5, num_dims=3)
- self.assertEqual('[[ 0. 0. 0.] [[ 0.] \n'
- ' [ 0. 0. 0.] [[x0] [ 0.] \n'
- ' [ 0. 0. 0.] [x1] <= [ 0.] \n'
- ' [ 0. 0. 0.] [x2]] [ 0.] \n'
- ' [ 0. 0. 0.]] [ 0.]] ',
+ self.assertEqual('[[0. 0. 0.] [[0.] \n'
+ ' [0. 0. 0.] [[x0] [0.] \n'
+ ' [0. 0. 0.] [x1] <= [0.] \n'
+ ' [0. 0. 0.] [x2]] [0.] \n'
+ ' [0. 0. 0.]] [0.]] ',
str(self.p))
def test_many_constraints_even_constraint_odd_dims_str(self):
"""Tests printing out the set with even constraints and odd dimensions."""
self.MakePWithDims(num_constraints=2, num_dims=3)
- self.assertEqual('[[ 0. 0. 0.] [[x0] [[ 0.] \n'
- ' [ 0. 0. 0.]] [x1] <= [ 0.]] \n'
- ' [x2]] ',
+ self.assertEqual('[[0. 0. 0.] [[x0] [[0.] \n'
+ ' [0. 0. 0.]] [x1] <= [0.]] \n'
+ ' [x2]] ',
str(self.p))