+ LV-j<$^RIt^RIt^RIHtHtHt^RIt^RIH t ^RIH t H t H t HtHt^RIHtHtHtHtHt]P*P,t]!] 4!RR44t]!RR R 7!R R 44t]!] 4!R R44tR#)N)assert_array_almost_equalxp_assert_closemake_xp_test_case) cont2discrete)dlsimss2tfss2zpklsimlti)tf2ssimpulsedimpulsestepdstepca]tRt^toRtRtRtRtRtRt Rt Rt R t ] !R R 7R 4tR t] !R R 7R4t] !R R 7R4tRtVtR#)TestC2DcVP^VPR7pVPRRVPR7pVPRR.RR.RR..4pVPR.R.R..4pRVP^4,pVPRR4pRp\ W#WE3VR R 7wrrp \ Wi4\ Wz4\ WK4\ W\4\ P!WR R 7'gQhR #))dtype????)a?g6 <S?zohmethod+=abs_tolNrQտ)eyefloat64fullasarrayc2drmathisclose)selfxpacbcccdcad_truthbd_truth dt_requestedadbdcddddts&& v/Volumes/fast/ai/experiments/ui-tars-smoke/.venv/lib/python3.14/site-packages/scipy/signal/tests/test_cont2discrete.pytest_zohTestC2D.test_zohs VVARZZV ( WWVS W 3 ZZ$sCj3+> ? ZZ#w/ 0$rvvay0776#45  ""!1<N!(/!(/!")!")||Be<<<<cVP^4pVPRR4pVPRR.RR.RR..4pVPR.R.R..4pRVP^4,pVPRR4pTpVPR.R .R..4p Rp \W#WE3V R R 7wrrp\ Wk4\ W|4\ W4\ W4\ P !WR R 7'gQhR#)rrrrrrrgm?g>."?g4pL ?fohrrr Nr"r$g.Ȫq¿r%r'r(r)rr*r+r,r-r.r/r0r1r2r3cd_truthdd_truthr4r5r6r7r8r9s&& r:test_fohTestC2D.test_foh(s VVAY WWVS ! ZZ$sCj3+> ? ZZ#w/ 0%rvvay0776#45:: 12011245  ""!1<N!(/!(/!(/!(/||Be<<< ? ZZ#u- .%rvvay0776#45::x#9:  ""!1<(13 "(/!(/!(/!(/||Be<<< ? ZZ#w/ 0 ?7763'::Sz #Sz #Sz+,::w #u &x)*!""!1<(-U< "(/!(/!(/!(/r=cVP^4pVPR R4pVPRR.RR.RR..4pVPR.R.R ..4pRpRVP^4,pVPR R4pVPRR.RR.RR..4p Tp \W#WE3VRR7wrrp\ W{4\ W4\ W4\ W4\ P !WR R 7'gQhR #)rrrrrr?eulerrrr Nr"r$r@r,r-r.r/r0r1r4r2r3rBrCr5r6r7r8r9s&& r: test_eulerTestC2D.test_euleros VVAY WWVS ! ZZ$sCj3+> ? ZZ#w/ 0 ?7764(::c{ #Sz #T{,- ""!1<(/1 "(/!(/!(/!(/||Be<<< ? ZZ#w/ 0 ?7763'::Sz #Sz #Sz+,::w #u %w()!""!1<(79 "(/!(/!(/!(/r=cVP^4pVPRR4pVPRR.RR.RR..4pVPR.R.R..4pRpRVP^4,pVPRR4pVPRR.RR.RR..4p VPR.R.R..4p \W#WE3VRR7wrrp\ W{4\ W4\ W4\ W4\ P !WR R 7'gQhR VP^4,pVPRR 4pVPR R.RR.RR..4p VPR.R .R..4p Rp\W#WE3VRR7wrrp\ W{4\ W4\ W4\ W4\ P !Wo4'gQhR#)rrrrrrg?bilinearrrr gffffff?rNrKrLrJrMNr"r$g?rRgUUUUUU?g>X%rSr@rZs&& r: test_bilinearTestC2D.test_bilinears VVAY WWVS ! ZZ$sCj3+> ? ZZ#w/ 0 *7769-::Y/ )95 )9578:: 12 ){ 2356!""!1<(24 "(/!(/!(/!(/||Be<<<<?7763'::SzC:SzBC::wx89  ""!1<(24 "(/!(/!(/!(/||L----r=c0VP.RO4pVP.RO4pVP.RO.4pVP.RO4pRp\W#3VRR7wrxp \WG4\WX4\P!Wi4'gQhR#) rrrrN)rrr)rrr)rRgNZۿgϱ)_?)rg]Ogoh?)r(r)rr*r+) r,r-numcdencnumddendr4numdenr9s && r:test_transferfunctionTestC2D.test_transferfunctionszz+,zz+,zzMNOzzFG D<eD "!$,!$,||L----r=cVPRR.4pVPRVP^4, R VP^4, .4pRpVPRR.4pVPR R .4pRpRp\W#V3VRR7wrr\ WY4\ Wj4\ P !W{4'gQh\ P !W4'gQhR#) ry?rgwRN?g.-. ?rrNgyy\9O?(?y\9O?(ֿ)arraysqrtr(r)rr*r+) r,r-zeros_cpoles_ck_czeros_dpolls_dk_dr4zerospoleskr9s && r:test_zerospolesgainTestC2D.test_zerospolesgains((C;'((C"''!*,dRWWQZ.?@A**.0ABC**DDFG !7S"9<).0a "'1!'1||C####||L----r=T)np_onlyc RpRpRpRp\W#WE4wrg\W#WE4wrp Rp Rp ^^V , V ,V,,^W,V,, , p W,^W,V,, , pV^W,V,, , pW\V,V,,p\WVV4wpp\Wg3V RV R7wppp\VV4\VV4\WVV4wppp\WV 3V RV R7wpppp\VV4\VV4\VV4R#)z7Test method='gbt' with alpha=0.25 for tf and zpk cases.rrrrOrPNg)rr r)r)r,r-ABCDcnumcdenczcpckhrQAdBdCdDddnumddenc2dnumc2ddenr9dzdpdkc2dzc2dpc2dks&& r:test_gbt_with_sio_tf_and_zpk$TestC2D.test_gbt_with_sio_tf_and_zpks?    1& A!'  1u9/A%%!ei!m*; < Ua%)a-' ( !ei!m# $ R 22r* d!$qeLf%f%BB+ B #BB<5NdD"D!D!D!r=c FaV3RlpSPR..4pSPR..4pSPR..4pSPR..4pRpSP^R^e4pV^,V^,, p V!V4p \W4WV3WVR7wrp \W4WV3V RR7p RV R RV R ,,,pVR Rp\ WP R^4WR 7wpppRV R RV R ,,,p\ VP4VR R 7R #)z Test that the solution to the discrete approximation of a continuous system actually approximates the solution to the continuous system. This is an indirect test of the correctness of the implementation of cont2discrete. c4<SPRV,4#)g@)sin)tr-s&r:u'TestC2D.test_discrete_approx..u"s66#'? "r=rrNg$@)TUX0rbrrN:r#NN)rrx0g-C6?rtolg{Gz)r(linspacer r)rreshaperravel)r,r-rabcdrrr9u1youtxoutdsysu2t2td2yd2xd2ymids&f r:test_discrete_approxTestC2D.test_discrete_approxs # JJy ! JJw  JJw  JJw   KK4 % qTAaD[ qTaA\Q< A!<J7BsGbf$ % sVdjjQ&72E S# d3Bi$r(*+ T5r=c^^.^^..^^.3p\VR4wr#pVR8XgQh\V^R.RR7\V^R.^R..RR7R#)r#{Gz?gMbP?rNgUxergT(|)r)r)r,tfrjrkr9s& r: test_simo_tfTestC2D.test_simo_tfBse1v1vA '2t} "Tzza.T:q"g;'78tDr=ctRp^R.^^..^^.3p\W!4wr4pV^,^,V^,3p\Wa4wrxp V^,^,V^,3p \W4wrp WY8XgQhW]8XgQh\V\P!W{34RR7\WHRR7\WLRR7R#)rgvIh%<=rN)r)rnpvstack)r,tsrrjrkr9tf1num1den1dt1tf2num2den2dt2s& r:test_multioutputTestC2D.test_multioutputLs 2wA!Q (2{ "!uQxAc,C!uQxAc,Cyyyy RYY|45A ..r=N)__name__ __module__ __qualname____firstlineno__r;rDrGrUr[r_rcrlrzskip_xp_backendsrrrr__static_attributes____classdictcell__ __classdict__s@r:rrs=&=.=,04=002*.X ..(d#("$("T&6Pd#E$Ed#/$/r=rTzlti currently not supported)r|reasonc,a]tRtRtoRtRtRtVtR#) TestC2dLtiiecD\P!R R.RR ..4p\P!^.^..4p\P!^^..4p^pRp\P!RR.RR..4p\P!R.R ..4p\W#WE4p V PVR 7p \ V P V4\ V P V4\ V PV4\ V P\P!V P44\WR 7p \ V P V4\ V P V4\ V PV4\ V P\P!V P44R #)rJ皙?rNg?gГr=c\RR.RR.4pVPR4p\P!RR.4p\P!RR .4p\ VP VRR7\ VP VRR7R#) rrJrg?g{Gzt?g{Gz?)atolNgi ߿gY쭛])r rrrorrkrj)r,r-sysnum_resden_ress&& r: test_c2d_tfTestC2dLti.test_c2d_tfsp3*sCj)ooe$((C!345((C!345 t4t4r=rN)rrrrrrrrrs@r:rres?6 5 5r=rc^a]tRtRto]!^^..R O4R^ 3]!^^..R O4R^ 3]!R.R O4R^ 3.t]!]]4] PPR]4R44t ] PPR]4R4t ] PPR]4R4tR tVtR #)TestC2dInvariantsirrrzsys,sample_time,samples_numberc@\\VPV44pVPV4V,p\ W%R7wrg\ \ W#RR7\V4R7wrh\W7P4,V^,P44R#)rr rnN) tuplemapr(aranger rr)lenrr r,r-r sample_timesamples_numbertime_ yout_cont yout_discs &&&&& r:test_impulse_invariant(TestC2dInvariants.test_impulse_invariantsuC C()yy(;6s+ CY G"%d)-  oo&7719K9K9MNr=c4\\VPV44pVPV4V,p\ W%R7wrg\ \ W#RR7\V4R7wrh\VP4V^,P44R#)rrrrN) rrr(rrrr)rrrrs &&&&& r:test_step_invariant%TestC2dInvariants.test_step_invariantsmC C()yy(;6C( S%@CIN  )9Q<+=+=+?@r=c\\VPV44pVPV4V,p\ W%VR7wrgp\ \ W#RR7VR7wrhp\VP4VP44R#))rrr?r)rN) rrr(rr rr)rrrs &&&&& r:test_linear_invariant'TestC2dInvariants.test_linear_invariantsiC C()yy(;6sd3aCU CtLa )9??+<=r=rN)r#rXr#)r#rXr#)r#r#rr#)rrrrr casesrr rpytestmark parametrizerrrrrrs@r:rrs 1v{ #T2. 1v~ &R0 sL !3+ Ew) [[=uEOF*O [[=uEAFA [[=uE>F>r=r)r*numpyrscipy._lib._array_apirrrr scipy.signalrr)rrr r r r r rrrrrrrrrr=r:r s  -88>> ;;//3O/O/O/b $'DE'5'5F'5T3%>%>%>r=