Merge pull request #658 from JuliaControl/append

reduce allocations from append and blockdiag

Author: baggepinnen

src/connections.jl

@@ -23,20 +23,22 @@ Append systems in block diagonal form
 function append(systems::(ST where ST<:AbstractStateSpace)...)
     ST = promote_type(typeof.(systems)...)
     timeevol = common_timeevol(systems...)
-    A = blockdiag([s.A for s in systems]...)
-    B = blockdiag([s.B for s in systems]...)
-    C = blockdiag([s.C for s in systems]...)
-    D = blockdiag([s.D for s in systems]...)
+    A = blockdiag(s.A for s in systems)
+    B = blockdiag(s.B for s in systems)
+    C = blockdiag(s.C for s in systems)
+    D = blockdiag(s.D for s in systems)
     return ST(A, B, C, D, timeevol)
 end
 
 function append(systems::TransferFunction...)
     timeevol = common_timeevol(systems...)
-    mat = blockdiag([s.matrix for s in systems]...)
+    mat = blockdiag(s.matrix for s in systems)
     return TransferFunction(mat, timeevol)
 end
 
-append(systems::LTISystem...) = append(promote(systems...)...)
+append(systems::LTISystem...) = append(promote(systems...))
+
+append(systems::Union{<:Tuple, <:Base.Generator}) = append(systems...)
 
 
 function Base.vcat(systems::DelayLtiSystem...)
@@ -58,9 +60,9 @@ function Base.vcat(systems::ST...) where ST <: AbstractStateSpace
     if !all(s.nu == nu for s in systems)
         error("All systems must have same input dimension")
     end
-    A = blockdiag([s.A for s in systems]...)
+    A = blockdiag(s.A for s in systems)
     B = reduce(vcat, s.B for s in systems)
-    C = blockdiag([s.C for s in systems]...)
+    C = blockdiag(s.C for s in systems)
     D = reduce(vcat, s.D for s in systems)
     timeevol = common_timeevol(systems...)
     return ST(A, B, C, D, timeevol)
@@ -87,8 +89,8 @@ function Base.hcat(systems::ST...) where ST <: AbstractStateSpace
         error("All systems must have same output dimension")
     end
     timeevol = common_timeevol(systems...)
-    A = blockdiag([s.A for s in systems]...)
-    B = blockdiag([s.B for s in systems]...)
+    A = blockdiag(s.A for s in systems)
+    B = blockdiag(s.B for s in systems)
     C = reduce(hcat, s.C for s in systems)
     D = reduce(hcat, s.D for s in systems)
 
@@ -133,6 +135,7 @@ end
 
 
 blockdiag(anything...) = cat(anything..., dims=(1,2))
+blockdiag(anything::Union{<:Tuple, <:Base.Generator}) = cat(anything..., dims=(1,2))
 
 
 """

src/delay_systems.jl

@@ -58,7 +58,7 @@ function c2d(G::DelayLtiSystem, Ts::Real, method=:zoh)
     if !(method === :zoh)
         error("c2d for DelayLtiSystems only supports zero-order hold")
     end
-    X = append([delayd_ss(τ, Ts) for τ in G.Tau]...)
+    X = append(delayd_ss(τ, Ts) for τ in G.Tau)
     Pd = c2d(G.P.P, Ts)
     return lft(Pd, X)
 end
@@ -333,6 +333,6 @@ Approximate all time-delays in `G` by Padé approximations of degree `N`.
 function pade(G::DelayLtiSystem, N)
     ny, nu = size(G)
     nTau = length(G.Tau)
-    X = append([ss(pade(τ,N)) for τ in G.Tau]...) # Perhaps append should be renamed blockdiag
+    X = append(ss(pade(τ,N)) for τ in G.Tau) # Perhaps append should be renamed blockdiag
     return lft(G.P.P, X)
 end

src/utilities.jl

@@ -113,15 +113,15 @@ poly2vec(p::Polynomial) = p.coeffs[1:end]
 
 
 function unwrap!(M::Array, dim=1)
-    alldims(i) = [ n==dim ? i : (1:size(M,n)) for n in 1:ndims(M) ]
+    alldims(i) = ntuple(n->n==dim ? i : (1:size(M,n)), ndims(M))
     for i = 2:size(M, dim)
         #This is a copy of slicedim from the JuliaLang but enables us to write to it
         #The code (with dim=1) is equivalent to
         # d = M[i,:,:,...,:] - M[i-1,:,...,:]
         # M[i,:,:,...,:] -= floor((d+π) / (2π)) * 2π
         d = M[alldims(i)...] - M[alldims(i-1)...]
         π2 = eltype(M)(2π)
-        M[alldims(i)...] -= floor.((d .+ π) / π2) * π2
+        M[alldims(i)...] -= @. floor((d + π) / π2) * π2
     end
     return M
 end

test/test_connections.jl

@@ -220,7 +220,7 @@ K1d = ss(-1, 1, 1, 0, 1)
 @test feedback(K1, ss(1.0)) == ss(-2, 1, 1, 0)
 @test feedback(K1, 1.0) == ss(-2, 1, 1, 0)
 @test feedback(K1d, ss(1.0, 1)) == ss(-2, 1, 1, 0, 1)
-@test_broken feedback(G2d, 1.0) == ss(-2, 1, 1, 0, 1)
+@test feedback(G2d, 1.0) == ss(-62, 7, 8, 0, 1)
 
 # Check that errors for sample-time mismatc are thrown
 @test_throws ErrorException feedback(G2, K1d)