├── .gitignore ├── .travis.yml ├── LICENSE ├── MANIFEST ├── README.md ├── control ├── LQR.py ├── StateFeedback.py ├── StateObserver.py ├── SystemIdentification.py ├── __init__.py ├── bode.py ├── kalman.py ├── linearize.py ├── rootlocus.py └── system.py ├── docs ├── Makefile ├── _build │ ├── doctrees │ │ ├── environment.pickle │ │ ├── index.doctree │ │ ├── intro.doctree │ │ ├── ref.doctree │ │ └── rep.doctree │ └── html │ │ ├── .buildinfo │ │ ├── .doctrees │ │ ├── environment.pickle │ │ ├── index.doctree │ │ ├── intro.doctree │ │ └── rep.doctree │ │ ├── _images │ │ ├── ss.png │ │ └── tf.png │ │ ├── _sources │ │ ├── index.rst.txt │ │ ├── intro.rst.txt │ │ ├── ref.rst.txt │ │ └── rep.rst.txt │ │ ├── _static │ │ ├── alabaster.css │ │ ├── basic.css │ │ ├── classic.css │ │ ├── custom.css │ │ ├── default.css │ │ ├── doctools.js │ │ ├── documentation_options.js │ │ ├── file.png │ │ ├── jquery-3.5.1.js │ │ ├── jquery.js │ │ ├── language_data.js │ │ ├── minus.png │ │ ├── plus.png │ │ ├── pygments.css │ │ ├── searchtools.js │ │ ├── sidebar.js │ │ ├── underscore-1.3.1.js │ │ └── underscore.js │ │ ├── debug.log │ │ ├── genindex.html │ │ ├── index.html │ │ ├── intro.html │ │ ├── objects.inv │ │ ├── ref.html │ │ ├── rep.html │ │ ├── search.html │ │ └── searchindex.js ├── conf.py ├── index.rst ├── intro.rst ├── make.bat ├── ref.rst ├── rep.rst └── shared_images │ ├── ss.png │ └── tf.PNG ├── pytest.ini ├── requirements.txt ├── setup.cfg ├── setup.py └── tests └── test_system.py /.gitignore: -------------------------------------------------------------------------------- 1 | /.pytest_cache/* 2 | /control/__pycache__/* 3 | /tests/__pycache__/* 4 | /dist/* 5 | /control_toolbox.egg-info 6 | -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- 1 | language: python 2 | python: 3 | - "3.6" 4 | - "3.7" 5 | before_install: 6 | - python --version 7 | - pip install -U pip 8 | - pip install -U pytest 9 | - export PYTHONPATH=$PYTHONPATH:$(pwd) 10 | install: 11 | - pip install -r requirements.txt 12 | - pip install -e . 13 | script: pytest 14 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2020 Rushad Mehta 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /MANIFEST: -------------------------------------------------------------------------------- 1 | # file GENERATED by distutils, do NOT edit 2 | setup.cfg 3 | setup.py 4 | control\PID.py 5 | control\__init__.py 6 | control\rootlocus.py 7 | control\system.py 8 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Python Control Systems Toolbox 2 | [![Build Status](https://travis-ci.com/rushad7/control-toolbox.svg?branch=master)](https://travis-ci.com/rushad7/control-toolbox) 3 | [![Documentation Status](https://readthedocs.org/projects/control-toolbox/badge/?version=latest)](https://control-toolbox.readthedocs.io/en/latest/?badge=latest) 4 | [![PyPI version](https://badge.fury.io/py/control-toolbox.svg)](https://badge.fury.io/py/control-toolbox) 5 | ![GitHub](https://img.shields.io/github/license/rushad7/control-toolbox) 6 | 7 | The `control-toolbox` is a Python Library for implementing and simulating various systems and control strategies. 8 | 9 | ## Current Supported Functionality: 10 | 11 | - System modeling with Transfer Functions and State Space Representations. 12 | - Time Domain Response. 13 | - Frequency Response. 14 | - System Representation conversion: State Space model to Transfer Function and vice versa. 15 | - Block diagram algebra: Series and Parallel. 16 | - Stability Analysis. 17 | - Root Locus. 18 | - Bode Plot. 19 | - Parameterization of System. 20 | - Pole-Zero / Eigenvalue plot of systems. 21 | - Feedback analysis. 22 | - PID control. 23 | - Observability and Controllability. 24 | - Full State Feedback. 25 | - Full State Observer. 26 | - Linear Quadratic Regulator(LQR). 27 | - Linear Quadratic Estimator(LQE) / Kalman Filter. 28 | - Linearization. 29 | - System Identification. 30 | 31 | ## Future Updates: 32 | - Linear Quadratic Gaussian Control. 33 | - Extended Kalman Filter. 34 | - Unscented Kalman filter. 35 | - Model Predictive Control. 36 | 37 | ## Project Links 38 | Project Homepage: http://control-toolbox.rtfd.io/ 39 | Documentation: [https://control-toolbox.readthedocs.io/](https://control-toolbox.readthedocs.io/) 40 | 41 | ## Installation 42 | ### Pip 43 | To install using pip, run the following command: 44 | 45 | `pip install control-toolbox` 46 | 47 | ### Development 48 | To get the latest unreleased version: 49 | 50 | `git clone https://github.com/rushad7/control-toolbox.git` 51 | -------------------------------------------------------------------------------- /control/LQR.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Wed Jun 24 18:37:14 2020 4 | 5 | @author: Rushad 6 | """ 7 | 8 | import numpy as np 9 | from .system import StateSpace 10 | 11 | class LQR(): 12 | 13 | def __init__(self, ss, Q, R, N): 14 | ''' 15 | Parameters 16 | ---------- 17 | ss : StateSpce object 18 | DESCRIPTION. StateSpace object on which LQR is to be done. 19 | Q : numpy array 20 | DESCRIPTION. Q matrix of cost function 21 | R : numpy 22 | DESCRIPTION. R matrix of cost function 23 | N : integer 24 | DESCRIPTION. Time horizon. 25 | 26 | Returns 27 | ------- 28 | None. 29 | 30 | ''' 31 | self._ss = ss 32 | self._Q = Q 33 | self._R = R 34 | self._N = N 35 | 36 | def solve(self): 37 | ''' 38 | Returns 39 | ------- 40 | k : numpy array 41 | DESCRIPTION. numpy array of Feedback gain matix 42 | 43 | ''' 44 | A = self._ss.A 45 | B = self._ss.B 46 | 47 | P_current = self._Q 48 | N_range = list(range(1, self._N))[::-1] 49 | 50 | P = {self._N:self._Q} 51 | K = {} 52 | 53 | for t in N_range: 54 | P_prev = self._Q + A.T@P_current@A - A.T@P_current@B@np.linalg.inv(self._R + B.T@P_current@B)@B.T@P_current@A 55 | P[t] = P_prev 56 | P_current = P_prev[:] 57 | 58 | for t in range(self._N): 59 | Kt = -np.linalg.inv(self._R + B.T@P[t+1]@B)@B.T@P[t+1]@A 60 | K[t] = Kt 61 | 62 | k = K[self._N-1] 63 | 64 | return k 65 | 66 | def model(self): 67 | ''' 68 | Returns 69 | ------- 70 | ss_model : TYPE 71 | DESCRIPTION. StateSpace object of system with StateFeedback 72 | 73 | ''' 74 | k = self.solve() 75 | 76 | A_new = self._ss.A - self._ss.B@k 77 | ss_model = StateSpace(A_new, self._ss.B, self._ss.C, self._ss.D) 78 | 79 | return ss_model 80 | -------------------------------------------------------------------------------- /control/StateFeedback.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Sun Jun 21 19:41:45 2020 4 | 5 | @author: Rushad 6 | """ 7 | 8 | from .system import StateSpace 9 | import numpy as np 10 | from sympy import symbols, Matrix, eye, det, solveset, poly 11 | 12 | class StateFeedback(): 13 | 14 | ''' 15 | State Feedback control. 16 | Returns State Feeback Gain matrix 17 | ''' 18 | 19 | def __init__(self, ss): 20 | ''' 21 | Parameters 22 | ---------- 23 | ss : StateSpace Object 24 | DESCRIPTION. State Space represenation the system state feedback is applied to. 25 | 26 | Returns 27 | ------- 28 | None. 29 | 30 | ''' 31 | 32 | self._ss = ss 33 | q = self._ss.contr(ret=True) 34 | 35 | if np.linalg.det(q) == 0: 36 | print("Input a controlable system") 37 | 38 | elif np.linalg.det(q) != 0: 39 | print("Hence Full State Feedback is possible") 40 | 41 | self._lambd = symbols('lambd') 42 | 43 | k_str = "" 44 | for i in range(len(self._ss.A)): 45 | k_str = k_str + "k" + str(i+1) + "," 46 | 47 | k_str = k_str[:-1] 48 | k_var = symbols(k_str) 49 | k_matrix = Matrix(k_var).transpose() 50 | 51 | A_og = Matrix(ss.A) 52 | B_matrix = Matrix(ss.B) 53 | A_new = A_og - (B_matrix*k_matrix) 54 | 55 | char_eq = eye(len(ss.A))*self._lambd - A_new 56 | determinant = det(char_eq) 57 | self.charactaristic_eq = determinant 58 | 59 | def solve(self, roots): 60 | ''' 61 | Parameters 62 | ---------- 63 | roots : list 64 | DESCRIPTION. List of desired poles of the system 65 | 66 | Returns 67 | ------- 68 | state_feedback_matrix : numpy array 69 | DESCRIPTION. numpy array of state feedback gains 70 | 71 | ''' 72 | 73 | determinant = poly(self.charactaristic_eq, self._lambd) 74 | determinant_coefs = determinant.all_coeffs() 75 | 76 | char_eq_req = (self._lambd - roots[0])*(self._lambd - roots[1])*(self._lambd - roots[2]) 77 | char_eq_req = char_eq_req.expand() 78 | char_eq_req = poly(char_eq_req) 79 | char_eq_req_coefs = char_eq_req.all_coeffs() 80 | 81 | state_feedback_gain_list = [] 82 | for i in range(len(self._ss.A)): 83 | k_elem = float(list(solveset(determinant_coefs[i+1] - char_eq_req_coefs[i+1]).evalf())[0]) 84 | state_feedback_gain_list.append(k_elem) 85 | 86 | state_feedback_gain_list = state_feedback_gain_list[::-1] 87 | self.state_feedback_gain_matrix = np.array(state_feedback_gain_list).reshape(1, len(self._ss.A)) 88 | 89 | return self.state_feedback_gain_matrix 90 | 91 | def model(self, k_ref=1): 92 | ''' 93 | Parameters 94 | ---------- 95 | k_ref : float/integer, optional 96 | DESCRIPTION. Reference gain. Increase/Decrease this to adjust the steady state error. The default is 1. 97 | 98 | Returns 99 | ------- 100 | model : StateSpace object 101 | DESCRIPTION. Returns SS Model with State Feedback 102 | 103 | ''' 104 | A = self._ss.A 105 | B = self._ss.B 106 | C = self._ss.C 107 | D = self._ss.D 108 | K = self.state_feedback_gain_matrix 109 | 110 | A_new = A - np.matmul(B.reshape((len(self._ss.A),1)), K.reshape((1,len(self._ss.A)))) 111 | B_new = B*k_ref 112 | model = StateSpace(A_new,B_new,C,D) 113 | 114 | return model 115 | -------------------------------------------------------------------------------- /control/StateObserver.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Thu Jun 25 16:36:40 2020 4 | 5 | @author: Rushad 6 | """ 7 | 8 | from .system import StateSpace 9 | import numpy as np 10 | from sympy import symbols, Matrix, eye, det, solveset, poly 11 | 12 | class StateObserver(): 13 | 14 | ''' 15 | State Observer. 16 | Returns State Observer Gain matrix 17 | ''' 18 | 19 | def __init__(self, ss): 20 | ''' 21 | Parameters 22 | ---------- 23 | ss : StateSpace Object 24 | DESCRIPTION. State Space represenation the system. 25 | 26 | Returns 27 | ------- 28 | None. 29 | 30 | ''' 31 | 32 | self._ss = ss 33 | q = self._ss.obs(ret=True) 34 | 35 | if np.linalg.det(q) == 0: 36 | print("Input a observable system") 37 | 38 | elif np.linalg.det(q) != 0: 39 | print("Hence Full State observable is possible") 40 | 41 | self._lambd = symbols('lambd') 42 | 43 | k_str = "" 44 | for i in range(len(self._ss.A)): 45 | k_str = k_str + "k" + str(i+1) + "," 46 | 47 | k_str = k_str[:-1] 48 | k_var = symbols(k_str) 49 | k_matrix = Matrix(k_var).transpose() 50 | 51 | A_og = Matrix(ss.A) 52 | B_matrix = Matrix(ss.B) 53 | A_new = A_og - (B_matrix*k_matrix) 54 | 55 | char_eq = eye(len(ss.A))*self._lambd - A_new 56 | determinant = det(char_eq) 57 | self.charactaristic_eq = determinant 58 | 59 | def solve(self, roots): 60 | ''' 61 | Parameters 62 | ---------- 63 | roots : list 64 | DESCRIPTION. List of desired poles of the system 65 | 66 | Returns 67 | ------- 68 | state_observer_matrix : numpy array 69 | DESCRIPTION. numpy array of state observer gains 70 | 71 | ''' 72 | 73 | determinant = poly(self.charactaristic_eq, self._lambd) 74 | determinant_coefs = determinant.all_coeffs() 75 | 76 | char_eq_req = (self._lambd - roots[0])*(self._lambd - roots[1])*(self._lambd - roots[2]) 77 | char_eq_req = char_eq_req.expand() 78 | char_eq_req = poly(char_eq_req) 79 | char_eq_req_coefs = char_eq_req.all_coeffs() 80 | 81 | state_observer_gain_list = [] 82 | for i in range(len(self._ss.A)): 83 | k_elem = float(list(solveset(determinant_coefs[i+1] - char_eq_req_coefs[i+1]).evalf())[0]) 84 | state_observer_gain_list.append(k_elem) 85 | 86 | state_observer_gain_list = state_observer_gain_list[::-1] 87 | self.state_observer_gain_matrix = np.array(state_observer_gain_list).reshape(1, len(self._ss.A)) 88 | 89 | return self.state_observer_gain_matrix 90 | 91 | def model(self, k_ref=1): 92 | ''' 93 | Parameters 94 | ---------- 95 | k_ref : float/integer, optional 96 | DESCRIPTION. Reference gain. Increase/Decrease this to adjust the steady state error. The default is 1. 97 | 98 | Returns 99 | ------- 100 | model : StateSpace object 101 | DESCRIPTION. Returns SS Model with State Observer added 102 | 103 | ''' 104 | A = self._ss.A 105 | B = self._ss.B 106 | C = self._ss.C 107 | D = self._ss.D 108 | K = self.state_observer_gain_matrix 109 | 110 | A_new = A - np.matmul(B.reshape((len(self._ss.A),1)), K.reshape((1,len(self._ss.A)))) 111 | B_new = B*k_ref 112 | model = StateSpace(A_new,B_new,C,D) 113 | 114 | return model 115 | -------------------------------------------------------------------------------- /control/SystemIdentification.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Sun Aug 2 16:01:30 2020 4 | 5 | @author: Rushad 6 | """ 7 | 8 | import warnings 9 | import numpy as np 10 | import pandas as pd 11 | from tensorflow.keras import initializers 12 | from tensorflow.keras.layers import Dense 13 | from tensorflow.keras.models import Sequential 14 | 15 | warnings.filterwarnings("ignore") 16 | 17 | class SystemIdentification(): 18 | ''' 19 | System Identification module 20 | ''' 21 | def __init__(self, path_x, path_x_dot, path_y): 22 | ''' 23 | Parameters 24 | ---------- 25 | path_x : file path 26 | DESCRIPTION. path to CSV file consisting the X matrix data. 27 | path_x_dot : file path 28 | DESCRIPTION. path to CSV file consisting X_dot matrix data. 29 | path_y : file path 30 | DESCRIPTION. path to CSV file consisting Y matrix data. 31 | 32 | Returns 33 | ------- 34 | None. 35 | 36 | ''' 37 | data_x = pd.read_csv(path_x) 38 | data_x_dot = pd.read_csv(path_x_dot) 39 | data_y = pd.read_csv(path_y) 40 | 41 | self._x = data_x.to_numpy() 42 | self._x_dot = data_x_dot.to_numpy() 43 | self._y = data_y.to_numpy() 44 | 45 | def fit(self, num_epochs=500): 46 | ''' 47 | Parameters 48 | ---------- 49 | num_epochs : int, optional 50 | DESCRIPTION. Number of epochs. The default is 500. 51 | 52 | Returns 53 | ------- 54 | None. 55 | 56 | ''' 57 | self._stateModel = Sequential() 58 | self._stateModel.add(Dense(self._x.shape[0], input_dim=2, activation='sigmoid', kernel_initializer=initializers.glorot_normal())) 59 | self._stateModel.add(Dense(self._x.shape[0]/2, activation='sigmoid')) 60 | self._stateModel.add(Dense(2, activation='relu')) 61 | self._stateModel.compile(loss='mse', optimizer='adam', metrics=['accuracy']) 62 | self._stateModel.fit(self._x, self._x_dot, epochs=num_epochs, batch_size=10) 63 | 64 | self._outputModel = Sequential() 65 | self._outputModel.add(Dense(self._x.shape[0], input_dim=2, activation='sigmoid', kernel_initializer=initializers.glorot_normal())) 66 | self._outputModel.add(Dense(self._x.shape[0]/2, activation='sigmoid')) 67 | self._outputModel.add(Dense(1, activation='relu')) 68 | self._outputModel.compile(loss='mse', optimizer='adam', metrics=['accuracy']) 69 | self._outputModel.fit(self._x, self._y, epochs=num_epochs, batch_size=10) 70 | 71 | def model(self): 72 | ''' 73 | Returns 74 | ------- 75 | model_dict : dict 76 | DESCRIPTION. dictionary of matrices A and C. 77 | 78 | ''' 79 | hyp_state = self._stateModel.predict(self._x) 80 | hyp_output = self._stateModel.predict(self._x) 81 | 82 | A = np.linalg.pinv(self._x)@hyp_state 83 | C = hyp_output.T@np.linalg.pinv(self._x).T 84 | 85 | model_dict = {"A":A, "C":C} 86 | 87 | return model_dict -------------------------------------------------------------------------------- /control/__init__.py: -------------------------------------------------------------------------------- 1 | from .system import TransferFunction, feedback, PID, reduce, StateSpace 2 | from .rootlocus import rootlocus 3 | from .bode import bode 4 | from .StateFeedback import StateFeedback 5 | from .LQR import LQR 6 | from .StateObserver import StateObserver 7 | from .kalman import KalmanFilter 8 | from .linearize import linearize 9 | from .SystemIdentification import SystemIdentification 10 | __version__ = '0.1.0' 11 | -------------------------------------------------------------------------------- /control/bode.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Sun Jun 14 15:25:37 2020 4 | 5 | @author: Rushad 6 | """ 7 | 8 | import numpy as np 9 | import matplotlib.pyplot as plt 10 | from scipy.signal.filter_design import freqs 11 | 12 | class bode(): 13 | ''' 14 | Bode Plot of TF 15 | ''' 16 | def __init__(self): 17 | pass 18 | 19 | def freqresp(self, tf): 20 | ''' 21 | Parameters 22 | ---------- 23 | tf : TransferFuction object 24 | DESCRIPTION. TF of which frequency resonse is needed 25 | 26 | Returns 27 | ------- 28 | w : numpy array 29 | DESCRIPTION. Angular Frequency array [rad/s] 30 | h : numpy array 31 | DESCRIPTION. response of the system 32 | ''' 33 | 34 | w, h = freqs(tf.num_coef.flatten(), tf.den_coef.flatten()) 35 | return w, h 36 | 37 | def bode(self, system, ret=False, show=True): 38 | ''' 39 | Parameters 40 | ---------- 41 | system : TransferFunction object 42 | DESCRIPTION. TF object of which bode plot is needed 43 | ret : bool, optional 44 | DESCRIPTION. Return w, mag, phase. The default is False. 45 | show : bool, optional 46 | DESCRIPTION. Plot the response. The default is True. 47 | 48 | Returns 49 | ------- 50 | w : numpy array 51 | DESCRIPTION. Frequency array 52 | mag : numpy array 53 | DESCRIPTION. magnitude array 54 | phase : numpy array 55 | DESCRIPTION. phase array 56 | ''' 57 | 58 | w, y = self.freqresp(system) 59 | mag = 20.0 * np.log10(abs(y)) 60 | phase = np.unwrap(np.arctan2(y.imag, y.real)) * 180.0 / np.pi 61 | 62 | if show == True: 63 | plt.figure() 64 | plt.semilogx(w, mag) 65 | plt.figure() 66 | plt.semilogx(w, phase) 67 | plt.show() 68 | 69 | if ret == True: 70 | return w, mag, phase -------------------------------------------------------------------------------- /control/kalman.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Thu Jun 25 19:01:57 2020 4 | 5 | @author: Rushad 6 | """ 7 | 8 | import numpy as np 9 | import matplotlib.pyplot as plt 10 | 11 | class KalmanFilter(): 12 | 13 | def __init__(self, ss, Q, R, P=None, x0=None): 14 | 15 | self._ss = ss 16 | self._A = self._ss.A 17 | self._B = self._ss.B 18 | self._C = self._ss.C 19 | 20 | self._n = self._A.shape[1] 21 | self._m = self._C.shape[1] 22 | 23 | self.Q = Q 24 | self.R = R 25 | self.P = np.eye(self._n) if P is None else P 26 | self.x = np.zeros((self._n, 1)) if x0 is None else x0 27 | 28 | def predict(self, u = 0): 29 | 30 | self.x = np.dot(self._A, self.x) + np.dot(self._B, u) 31 | self.P = np.dot(np.dot(self._A, self.P), self._A.T) + self.Q 32 | 33 | return self.x 34 | 35 | def update(self, z): 36 | 37 | inv = np.linalg.inv(self.R + np.dot(self._C, np.dot(self.P, self._C.T))) 38 | K = np.dot(np.dot(self.P, self._C.T), inv) 39 | 40 | y = z - np.dot(self._C, self.x) 41 | self.x = self.x + np.dot(K, y) 42 | 43 | I = np.eye(self._n) 44 | self.P = np.dot(np.dot(I - np.dot(K, self._C), self.P), (I - np.dot(K, self._C)).T) + np.dot(np.dot(K, self.R), K.T) 45 | 46 | y = np.dot(self._C,self.x) 47 | if y.shape == (1,1): 48 | y = float(y) 49 | return self.x,y,K 50 | 51 | def solve(self, measurements, ret_k=False, ret_x=False): 52 | 53 | time = np.array(range(len(measurements))) 54 | predictions = [] 55 | K = [] 56 | X = [] 57 | 58 | for z in measurements: 59 | x,y,k = self.update(z) 60 | predictions.append(y) 61 | K.append(k) 62 | X.append(x) 63 | 64 | if ret_k == False and ret_x == False: 65 | return predictions 66 | elif ret_k == False and ret_x == True: 67 | return predictions, X 68 | elif ret_k == True and ret_x == False: 69 | return predictions, K 70 | elif ret_k == True and ret_x == True: 71 | return predictions, K, X -------------------------------------------------------------------------------- /control/linearize.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Wed Jul 29 17:10:26 2020 4 | 5 | @author: Rushad 6 | """ 7 | 8 | import numpy as np 9 | from sympy import symbols, Matrix, exp 10 | 11 | class linearize(): 12 | """ 13 | Linearizes systems. 14 | """ 15 | def __init__(self, ss, x0, x_op, u_op, y_op): 16 | ''' 17 | Parameters 18 | ---------- 19 | ss : StateSpace object 20 | DESCRIPTION. StateSpace of the system to be linearized. 21 | x0 : numpy array 22 | DESCRIPTION. ndarray of initial conditions 23 | x_op : numpy array 24 | DESCRIPTION. ndarray of operating points system is to be linearized about 25 | u_op : numpy array 26 | DESCRIPTION. ndarray of operating points system is to be linearized about 27 | y_op : numpy array 28 | DESCRIPTION. ndarray of operating points system is to be linearized about 29 | 30 | Returns 31 | ------- 32 | None. 33 | 34 | ''' 35 | self._x_op = x_op 36 | self._y_op = y_op 37 | self._u_op = u_op 38 | 39 | t = symbols("t") 40 | 41 | x_str = "" 42 | for i in range(len(ss.A)): 43 | x_str = x_str + "x" + str(i+1) + "," 44 | x_str = x_str[:-1] 45 | x_var = symbols(x_str) 46 | self._x_matrix = Matrix([x_var]) 47 | 48 | u_str = "" 49 | for i in range(len(ss.A)-1): 50 | u_str = u_str + "u" + str(i+1) + "," 51 | u_str = u_str[:-1] 52 | u_var = symbols(u_str) 53 | self._u_matrix = Matrix([u_var]) 54 | 55 | state_trans_matrix = exp(Matrix(ss.A)*t) 56 | self._x0 = np.reshape(x0, (1,np.product(x0.shape))) 57 | self._xt = Matrix(state_trans_matrix.dot(Matrix(x0))) 58 | 59 | self._yt = Matrix(ss.C)*(self._x_matrix).T + Matrix(ss.D)*(self._u_matrix) 60 | 61 | self._ft = Matrix(ss.A)*(self._x_matrix).T + Matrix(ss.B)*(self._u_matrix) 62 | self._gt = Matrix(ss.C)*(self._x_matrix).T + Matrix(ss.D)*(self._u_matrix) 63 | 64 | def linearize(self): 65 | ''' 66 | Returns 67 | ------- 68 | coefs_matrix : dict 69 | DESCRIPTION. List of matrices A, B, C, D for the linearized system. 70 | vars_matrix : dict 71 | DESCRIPTION. List of matrices xt, yt, ut for the linearized system. 72 | 73 | ''' 74 | del_xt = self._xt - self._x_op 75 | del_yt = self._yt - self._y_op 76 | del_ut = self._u_matrix - self._u_op 77 | 78 | A_lin = self._ft.jacobian(self._x_matrix) 79 | B_lin = self._ft.jacobian(self._u_matrix) 80 | C_lin = self._gt.jacobian(self._x_matrix) 81 | D_lin = self._gt.jacobian(self._u_matrix) 82 | 83 | coefs_matrix = {"A":np.array(A_lin), "B":np.array(B_lin), "C":np.array(C_lin), "D":np.array(D_lin)} 84 | vars_matrix = {"del_xt":np.array(del_xt), "del_yt":np.array(del_yt), "del_ut":np.array(del_ut)} 85 | 86 | return coefs_matrix, vars_matrix 87 | 88 | 89 | -------------------------------------------------------------------------------- /control/rootlocus.py: -------------------------------------------------------------------------------- 1 | # -*- coding: utf-8 -*- 2 | """ 3 | Created on Sun Jun 7 16:20:26 2020 4 | 5 | @author: Rushad 6 | """ 7 | 8 | import numpy as np 9 | import matplotlib.pyplot as plt 10 | 11 | class rootlocus(): 12 | 13 | def __init__(self, tf, gain_range=10.0): 14 | 15 | ''' 16 | Parameters 17 | ---------- 18 | tf : Transfer Function object 19 | DESCRIPTION. TF object whose root locus we want to find 20 | gain_range : float / int, optional 21 | DESCRIPTION. Range of the gain. The default is 10.0. 22 | 23 | Returns 24 | ------- 25 | Root Locus plot of the system 26 | ''' 27 | 28 | gains = np.linspace(0.0, float(gain_range), num=500) 29 | 30 | num = tf.num_coef 31 | num = list(tf.num_coef.reshape(len(num),)) 32 | den = tf.den_coef 33 | den = list(tf.den_coef.reshape(len(den),)) 34 | size = len(den) - len(num) 35 | temp = np.zeros(size) 36 | num = np.concatenate((temp, num)) 37 | tf = np.vstack((num, den)) 38 | 39 | def compute_roots(tf, gains): 40 | num, den = tf[0], tf[1] 41 | roots = [] 42 | 43 | for gain in gains: 44 | ch_eq = den + gain*num 45 | ch_roots = np.roots(ch_eq) 46 | ch_roots.sort() 47 | roots.append(ch_roots) 48 | 49 | # convert final roots list into array 50 | roots = np.vstack(roots) 51 | 52 | return roots 53 | 54 | 55 | def plot_root_locus(gains, roots): 56 | 57 | real_vals = np.real(roots) 58 | imag_vals = np.imag(roots) 59 | 60 | colors = ['b', 'm', 'c', 'r', 'g'] 61 | 62 | fig, ax = plt.subplots() 63 | ax.set_xlabel('Re') 64 | ax.set_ylabel('Im') 65 | ax.axvline(x=0, color='k', lw=1) 66 | ax.grid(True, which='both') 67 | 68 | # plots a blue "x" for the first roots 69 | ax.scatter(real_vals[0, :], imag_vals[0, :], 70 | marker='x', 71 | color='blue') 72 | 73 | # plots a red "o" for the last roots 74 | ax.scatter(real_vals[-1, :], imag_vals[-1, :], marker='o', color='red') 75 | 76 | temp_real_vals = real_vals[1:-1, :] 77 | temp_imag_vals = imag_vals[1:-1, :] 78 | color_range = range(temp_real_vals.shape[1]) 79 | 80 | # plot the rest of the roots in different colors with respect to the regions 81 | for r, i, j in zip(temp_real_vals.T, temp_imag_vals.T, color_range): 82 | ax.plot(r, i, color=colors[j]) 83 | 84 | return fig, ax 85 | 86 | roots = compute_roots(tf, gains) 87 | fig, ax = plot_root_locus(gains, roots) 88 | plt.show() -------------------------------------------------------------------------------- /docs/Makefile: -------------------------------------------------------------------------------- 1 | # Minimal makefile for Sphinx documentation 2 | # 3 | 4 | # You can set these variables from the command line, and also 5 | # from the environment for the first two. 6 | SPHINXOPTS ?= 7 | SPHINXBUILD ?= sphinx-build 8 | SOURCEDIR = . 9 | BUILDDIR = _build 10 | 11 | # Put it first so that "make" without argument is like "make help". 12 | help: 13 | @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) 14 | 15 | .PHONY: help Makefile 16 | 17 | # Catch-all target: route all unknown targets to Sphinx using the new 18 | # "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). 19 | %: Makefile 20 | @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) 21 | -------------------------------------------------------------------------------- /docs/_build/doctrees/environment.pickle: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/doctrees/environment.pickle -------------------------------------------------------------------------------- /docs/_build/doctrees/index.doctree: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/doctrees/index.doctree -------------------------------------------------------------------------------- /docs/_build/doctrees/intro.doctree: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/doctrees/intro.doctree -------------------------------------------------------------------------------- /docs/_build/doctrees/ref.doctree: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/doctrees/ref.doctree -------------------------------------------------------------------------------- /docs/_build/doctrees/rep.doctree: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/doctrees/rep.doctree -------------------------------------------------------------------------------- /docs/_build/html/.buildinfo: -------------------------------------------------------------------------------- 1 | # Sphinx build info version 1 2 | # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. 3 | config: b305a246092b59063e7917e06b57d270 4 | tags: 645f666f9bcd5a90fca523b33c5a78b7 5 | -------------------------------------------------------------------------------- /docs/_build/html/.doctrees/environment.pickle: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/html/.doctrees/environment.pickle -------------------------------------------------------------------------------- /docs/_build/html/.doctrees/index.doctree: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/html/.doctrees/index.doctree -------------------------------------------------------------------------------- /docs/_build/html/.doctrees/intro.doctree: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/html/.doctrees/intro.doctree -------------------------------------------------------------------------------- /docs/_build/html/.doctrees/rep.doctree: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/html/.doctrees/rep.doctree -------------------------------------------------------------------------------- /docs/_build/html/_images/ss.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/html/_images/ss.png -------------------------------------------------------------------------------- /docs/_build/html/_images/tf.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/html/_images/tf.png -------------------------------------------------------------------------------- /docs/_build/html/_sources/index.rst.txt: -------------------------------------------------------------------------------- 1 | ============================== 2 | Python Control Systems Toolbox 3 | ============================== 4 | 5 | The `control-toolbox` is a Python Library for implementing and simulating various systems and control strategies. 6 | 7 | .. rubric:: Current Supported Functionality: 8 | 9 | - System modeling with Transfer Functions and State Space Representations. 10 | - Time Domain Response. 11 | - Frequency Response. 12 | - System Representation conversion: State Space model to Transfer Function and vice versa. 13 | - Block diagram algebra: Series and Parallel. 14 | - Stability Analysis. 15 | - Root Locus. 16 | - Bode Plot. 17 | - Parameterization of System. 18 | - Pole-Zero / Eigenvalue plot of systems. 19 | - Feedback analysis. 20 | - PID control. 21 | - Observability and Controllability. 22 | - Full State Feedback 23 | - Full State Observer 24 | - Linear Quadratic Regulator(LQR) 25 | - Linear Quadratic Estimator(LQE) / Kalman Filter 26 | - Linearization. 27 | - System Identification. 28 | 29 | .. rubric:: Future Updates: 30 | 31 | - Linear Quadratic Gaussian Control. 32 | - Extended Kalman Filter. 33 | - Unscented Kalman filter. 34 | - Model Predictive Control. 35 | 36 | .. rubric:: Documentation: 37 | 38 | .. toctree:: 39 | :maxdepth: 2 40 | 41 | intro 42 | rep 43 | ref 44 | 45 | * :ref:`genindex` -------------------------------------------------------------------------------- /docs/_build/html/_sources/intro.rst.txt: -------------------------------------------------------------------------------- 1 | ============================== 2 | Introduction 3 | ============================== 4 | 5 | The `control-toolbox` is a Python Library for implementing and simulating various systems and control strategies. All information regarding this library can be found here, including the documentation and usage of the modules. 6 | 7 | Installation 8 | =============== 9 | | The `control-toolbox` library can be installed using pip. 10 | To install it use: 11 | :: 12 | pip install control-toolbox 13 | 14 | Development 15 | ============ 16 | | To get the latest unreleased version 17 | `git clone https://github.com/rushad7/control-toolbox.git` 18 | 19 | Getting Started 20 | =============== 21 | To start using the package, we simply import it as: 22 | :: 23 | >>> import control 24 | -------------------------------------------------------------------------------- /docs/_build/html/_sources/ref.rst.txt: -------------------------------------------------------------------------------- 1 | ==================== 2 | Function Reference 3 | ==================== 4 | 5 | The following table lists the classes and methods that can be used to model and simulate various systems and control strategies. 6 | 7 | System Definition 8 | ***************** 9 | .. csv-table:: 10 | :header: "Class", "Description" 11 | :widths: 40, 40 12 | 13 | "`TransferFunction(num, den)`", "Creates a Transfer Function system object" 14 | "`StateSpace(A,B,C,D)`", "Creates a State Space system object" 15 | 16 | Transfer Function Methods 17 | *************************** 18 | .. csv-table:: 19 | :header: "Method", "Description" 20 | :widths: 40, 40 21 | 22 | "`display()`", "Displays the Transfer Function system" 23 | "`parameters(settling_time_tolerance=0.02)`", "Returns the parameters of the system" 24 | "`response(input_type, time_period=10, sample_time=0.05, ret=False, show=True)`", "Returns the time domain response on the system" 25 | "`pzplot(ret=True)`", "Plots the Pole-Zero plot of the system and return poles and zeros" 26 | "`stability()`", "Returns the stability of the system" 27 | "`rootlocus(tf, gain_range=10.0)`", "Returns Root Locus of the system" 28 | 29 | State Space Methods 30 | ******************** 31 | .. csv-table:: 32 | :header: "Method", "Description" 33 | :widths: 40, 40 34 | 35 | "`display()`", "Displays the State Space system" 36 | "`convert2TF()`", "Converts State Space model to Transfer Function" 37 | "`contr()`", "Controllability of the system" 38 | "`obs()`", "Observability of the system" 39 | "`stability()`", "Stability of the system" 40 | "`eigplot(ret=True)`", "Plots eigenvalues/poles of system" 41 | "`StateResponse(t, initial_cond, u, ret=False, show=True)`", "Returns and plots state response" 42 | "`OutputResponse(t, initial_cond, u, ret=False, show=True)`", "Returns and plots output response" 43 | 44 | System Connections 45 | ******************* 46 | .. csv-table:: 47 | :header: "Method", "Description" 48 | :widths: 40, 40 49 | 50 | "`feedback( G, H=1.0, feedback_type=""negative"")`", "Creates a Feedback Object" 51 | "`reduce.series(tf1, *tfn)`", "Return the series connection (tfn * …" 52 | "`reduce.parallel(tf1, *tfn)`", "Return the parallel connection (tfn + …" 53 | 54 | Frequency Domain Analysis 55 | ************************* 56 | 57 | .. csv-table:: 58 | :header: "Method", "Description" 59 | :widths: 40, 40 60 | 61 | "`bode.freqresp(tf)`", "Returns the Frequency Response of the system" 62 | "`bode.bode(tf)`", "Returns the Bode Plot of the system" 63 | 64 | PID Controller Design 65 | ********************** 66 | .. csv-table:: 67 | :header: "Method", "Description" 68 | :widths: 40, 40 69 | 70 | "`PID(Kp, Ki, Kd, tf)`", "Creates a PID object" 71 | "`response(input_type, time_period=10, sample_time=0.05, ret=False, show=True)`", "Return the response of the system after PID control" 72 | "`tune(input_type=""step"", set_point=1, num_itr=70, rate=0.00000000001, lambd=0.7)`", "Tune the PID coefficients" 73 | "`display()`", "Display the PID block" 74 | "`reduced_tf`", "Displays the reduced Transfer Function (Controller + Plant)" 75 | 76 | State Feedback Design 77 | ********************* 78 | .. csv-table:: 79 | :header: "Method", "Description" 80 | :widths: 40, 40 81 | 82 | "`StateFeedback(ss)`", "Creates a StateFeedback object" 83 | "`solve(roots)`", "Calculates the State Feedback gain matrix" 84 | "`model(k_ref=1)`", "Retruns StateSpace object after applying State Feedback" 85 | 86 | State Observer Design 87 | ********************* 88 | .. csv-table:: 89 | :header: "Method", "Description" 90 | :widths: 40, 40 91 | 92 | "`StateObserver(ss)`", "Creates StateObserver object" 93 | "`solve(roots)`", "Calculates the State Observer gain matrix" 94 | "`model(k_ref=1)`", "Retruns the StateSpace object after applying State Observervation" 95 | 96 | Linear Quadratic Regulator(LQR) 97 | ******************************* 98 | .. csv-table:: 99 | :header: "Method", "Description" 100 | :widths: 40, 40 101 | 102 | "`LQR(ss, Q, R, N)`", "Creates an LQR object" 103 | "`solve()`", "Calculates the optimal gain matrix" 104 | "`model()`", "Returns the StateSpace object after applying State Observation" 105 | 106 | Kalman Filter / Linear Quadratic Estimator(LQE) 107 | *********************************************** 108 | .. csv-table:: 109 | :header: "Method", "Description" 110 | :widths: 40, 40 111 | 112 | "`KalmanFilter(ss, Q, R, P=None, x0=None)`", "Creates a KalmanFilter object" 113 | "`predict(u = 0):`", "Predict next state" 114 | "`update(z):`", "Update Predictions" 115 | "`solve(measurements, ret_k=False, ret_x=False):`", "Returns the Predictions, Kalman Gain, and States of the system" 116 | 117 | Linearization 118 | ************** 119 | .. csv-table:: 120 | :header: "Method", "Description" 121 | :widths: 40, 40 122 | 123 | "`linearize(ss, x0, x_op, u_op, y_op)`", "Creates a `linearize` object" 124 | "`linearize()`", "Linearizes the system and returns the systems state space matrices" 125 | 126 | System Identification 127 | *********************** 128 | .. csv-table:: 129 | :header: "Method", "Description" 130 | :widths: 40, 40 131 | 132 | "`SystemIdentification(path_x, path_x_dot, path_y)`", "Creates a `SystemIdentification` object" 133 | "`fit(num_epochs=500):`", "Models the system" 134 | "`model():`", "Returns the dictioinary of system matrices" 135 | -------------------------------------------------------------------------------- /docs/_build/html/_sources/rep.rst.txt: -------------------------------------------------------------------------------- 1 | ====================== 2 | System Representation 3 | ====================== 4 | 5 | Systems can be defined by Transfer Functions and State Space models. Both system representations provide near identical utility. 6 | 7 | Transfer Functions 8 | =================== 9 | 10 | A Transfer Function is the Laplace Transform of the ratio of output to input, and are mathematically described as: 11 | 12 | .. figure:: /shared_images/tf.png 13 | :align: center 14 | 15 | To define a system in terms of a Transfer Function, use the `TransferFunction` class. 16 | :: 17 | >>> import control 18 | >>> s = control.TransferFunction(num, den) 19 | 20 | Here `num` and `den` can be lists or numpy arrays 21 | 22 | 23 | State Space Models 24 | =================== 25 | 26 | Space State models are mathamatically described as: 27 | 28 | .. figure:: /shared_images/ss.png 29 | :align: center 30 | 31 | To define a system as Space State model, use the `StateSpace` class. 32 | :: 33 | >>> import control 34 | >>> s = control.StateSpce(A,B,C,D) 35 | 36 | Here, A,B,C,D are ndarrays. 37 | 38 | .. note:: A system can be defined by any of the two representations above. If a particular method is needed but is not provided for the given system representation (which is unlikely), you can convert the system model to the desired representation using the `convert2TF()` or `convert2SS()` method. -------------------------------------------------------------------------------- /docs/_build/html/_static/alabaster.css: -------------------------------------------------------------------------------- 1 | @import url("basic.css"); 2 | 3 | /* -- page layout ----------------------------------------------------------- */ 4 | 5 | body { 6 | font-family: Georgia, serif; 7 | font-size: 17px; 8 | background-color: #fff; 9 | color: #000; 10 | margin: 0; 11 | padding: 0; 12 | } 13 | 14 | 15 | div.document { 16 | width: 940px; 17 | margin: 30px auto 0 auto; 18 | } 19 | 20 | div.documentwrapper { 21 | float: left; 22 | width: 100%; 23 | } 24 | 25 | div.bodywrapper { 26 | margin: 0 0 0 220px; 27 | } 28 | 29 | div.sphinxsidebar { 30 | width: 220px; 31 | font-size: 14px; 32 | line-height: 1.5; 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445 | line-height: 1.3em; 446 | } 447 | 448 | div.viewcode-block:target { 449 | background: #ffd; 450 | } 451 | 452 | dl pre, blockquote pre, li pre { 453 | margin-left: 0; 454 | padding-left: 30px; 455 | } 456 | 457 | tt, code { 458 | background-color: #ecf0f3; 459 | color: #222; 460 | /* padding: 1px 2px; */ 461 | } 462 | 463 | tt.xref, code.xref, a tt { 464 | background-color: #FBFBFB; 465 | border-bottom: 1px solid #fff; 466 | } 467 | 468 | a.reference { 469 | text-decoration: none; 470 | border-bottom: 1px dotted #004B6B; 471 | } 472 | 473 | /* Don't put an underline on images */ 474 | a.image-reference, a.image-reference:hover { 475 | border-bottom: none; 476 | } 477 | 478 | a.reference:hover { 479 | border-bottom: 1px solid #6D4100; 480 | } 481 | 482 | a.footnote-reference { 483 | text-decoration: none; 484 | font-size: 0.7em; 485 | vertical-align: top; 486 | border-bottom: 1px dotted #004B6B; 487 | } 488 | 489 | a.footnote-reference:hover { 490 | border-bottom: 1px solid #6D4100; 491 | } 492 | 493 | a:hover tt, a:hover code { 494 | background: #EEE; 495 | } 496 | 497 | 498 | @media screen and (max-width: 870px) { 499 | 500 | div.sphinxsidebar { 501 | display: none; 502 | } 503 | 504 | div.document { 505 | width: 100%; 506 | 507 | } 508 | 509 | div.documentwrapper { 510 | margin-left: 0; 511 | margin-top: 0; 512 | margin-right: 0; 513 | margin-bottom: 0; 514 | } 515 | 516 | div.bodywrapper { 517 | margin-top: 0; 518 | margin-right: 0; 519 | margin-bottom: 0; 520 | margin-left: 0; 521 | } 522 | 523 | ul { 524 | margin-left: 0; 525 | } 526 | 527 | li > ul { 528 | /* Matches the 30px from the "ul, ol" selector above */ 529 | margin-left: 30px; 530 | } 531 | 532 | .document { 533 | width: auto; 534 | } 535 | 536 | .footer { 537 | width: auto; 538 | } 539 | 540 | .bodywrapper { 541 | margin: 0; 542 | } 543 | 544 | .footer { 545 | width: auto; 546 | } 547 | 548 | .github { 549 | display: none; 550 | } 551 | 552 | 553 | 554 | } 555 | 556 | 557 | 558 | @media screen and (max-width: 875px) { 559 | 560 | body { 561 | margin: 0; 562 | padding: 20px 30px; 563 | } 564 | 565 | div.documentwrapper { 566 | float: none; 567 | background: #fff; 568 | } 569 | 570 | div.sphinxsidebar { 571 | display: block; 572 | float: none; 573 | width: 102.5%; 574 | margin: 50px -30px -20px -30px; 575 | padding: 10px 20px; 576 | background: #333; 577 | color: #FFF; 578 | } 579 | 580 | div.sphinxsidebar h3, div.sphinxsidebar h4, div.sphinxsidebar p, 581 | div.sphinxsidebar h3 a { 582 | color: #fff; 583 | } 584 | 585 | div.sphinxsidebar a { 586 | color: #AAA; 587 | } 588 | 589 | div.sphinxsidebar p.logo { 590 | display: none; 591 | } 592 | 593 | div.document { 594 | width: 100%; 595 | margin: 0; 596 | } 597 | 598 | div.footer { 599 | display: none; 600 | } 601 | 602 | div.bodywrapper { 603 | margin: 0; 604 | } 605 | 606 | div.body { 607 | min-height: 0; 608 | padding: 0; 609 | } 610 | 611 | .rtd_doc_footer { 612 | display: none; 613 | } 614 | 615 | .document { 616 | width: auto; 617 | } 618 | 619 | .footer { 620 | width: auto; 621 | } 622 | 623 | .footer { 624 | width: auto; 625 | } 626 | 627 | .github { 628 | display: none; 629 | } 630 | } 631 | 632 | 633 | /* misc. */ 634 | 635 | .revsys-inline { 636 | display: none!important; 637 | } 638 | 639 | /* Make nested-list/multi-paragraph items look better in Releases changelog 640 | * pages. Without this, docutils' magical list fuckery causes inconsistent 641 | * formatting between different release sub-lists. 642 | */ 643 | div#changelog > div.section > ul > li > p:only-child { 644 | margin-bottom: 0; 645 | } 646 | 647 | /* Hide fugly table cell borders in ..bibliography:: directive output */ 648 | table.docutils.citation, table.docutils.citation td, table.docutils.citation th { 649 | border: none; 650 | /* Below needed in some edge cases; if not applied, bottom shadows appear */ 651 | -moz-box-shadow: none; 652 | -webkit-box-shadow: none; 653 | box-shadow: none; 654 | } 655 | 656 | 657 | /* relbar */ 658 | 659 | .related { 660 | line-height: 30px; 661 | width: 100%; 662 | font-size: 0.9rem; 663 | } 664 | 665 | .related.top { 666 | border-bottom: 1px solid #EEE; 667 | margin-bottom: 20px; 668 | } 669 | 670 | .related.bottom { 671 | border-top: 1px solid #EEE; 672 | } 673 | 674 | .related ul { 675 | padding: 0; 676 | margin: 0; 677 | list-style: none; 678 | } 679 | 680 | .related li { 681 | display: inline; 682 | } 683 | 684 | nav#rellinks { 685 | float: right; 686 | } 687 | 688 | nav#rellinks li+li:before { 689 | content: "|"; 690 | } 691 | 692 | nav#breadcrumbs li+li:before { 693 | content: "\00BB"; 694 | } 695 | 696 | /* Hide certain items when printing */ 697 | @media print { 698 | div.related { 699 | display: none; 700 | } 701 | } -------------------------------------------------------------------------------- /docs/_build/html/_static/basic.css: -------------------------------------------------------------------------------- 1 | /* 2 | * basic.css 3 | * ~~~~~~~~~ 4 | * 5 | * Sphinx stylesheet -- basic theme. 6 | * 7 | * :copyright: Copyright 2007-2020 by the Sphinx team, see AUTHORS. 8 | * :license: BSD, see LICENSE for details. 9 | * 10 | */ 11 | 12 | /* -- main layout ----------------------------------------------------------- */ 13 | 14 | div.clearer { 15 | clear: both; 16 | } 17 | 18 | /* -- relbar ---------------------------------------------------------------- */ 19 | 20 | div.related { 21 | width: 100%; 22 | font-size: 90%; 23 | } 24 | 25 | div.related h3 { 26 | display: none; 27 | } 28 | 29 | div.related ul { 30 | margin: 0; 31 | padding: 0 0 0 10px; 32 | list-style: none; 33 | } 34 | 35 | div.related li { 36 | display: inline; 37 | } 38 | 39 | div.related li.right { 40 | float: right; 41 | margin-right: 5px; 42 | } 43 | 44 | /* -- sidebar --------------------------------------------------------------- */ 45 | 46 | div.sphinxsidebarwrapper { 47 | padding: 10px 5px 0 10px; 48 | } 49 | 50 | div.sphinxsidebar { 51 | float: left; 52 | width: 230px; 53 | margin-left: -100%; 54 | font-size: 90%; 55 | word-wrap: break-word; 56 | overflow-wrap : break-word; 57 | } 58 | 59 | div.sphinxsidebar ul { 60 | list-style: none; 61 | } 62 | 63 | div.sphinxsidebar ul ul, 64 | div.sphinxsidebar ul.want-points { 65 | margin-left: 20px; 66 | list-style: square; 67 | } 68 | 69 | div.sphinxsidebar ul ul { 70 | margin-top: 0; 71 | margin-bottom: 0; 72 | } 73 | 74 | div.sphinxsidebar form { 75 | margin-top: 10px; 76 | } 77 | 78 | div.sphinxsidebar input { 79 | border: 1px solid #98dbcc; 80 | font-family: sans-serif; 81 | font-size: 1em; 82 | } 83 | 84 | div.sphinxsidebar #searchbox form.search { 85 | overflow: hidden; 86 | } 87 | 88 | div.sphinxsidebar #searchbox input[type="text"] { 89 | float: left; 90 | width: 80%; 91 | padding: 0.25em; 92 | box-sizing: border-box; 93 | } 94 | 95 | div.sphinxsidebar #searchbox input[type="submit"] { 96 | float: left; 97 | width: 20%; 98 | border-left: none; 99 | padding: 0.25em; 100 | box-sizing: border-box; 101 | } 102 | 103 | 104 | img { 105 | border: 0; 106 | max-width: 100%; 107 | } 108 | 109 | /* -- search page ----------------------------------------------------------- */ 110 | 111 | ul.search { 112 | margin: 10px 0 0 20px; 113 | padding: 0; 114 | } 115 | 116 | ul.search li { 117 | padding: 5px 0 5px 20px; 118 | background-image: url(file.png); 119 | background-repeat: no-repeat; 120 | background-position: 0 7px; 121 | } 122 | 123 | ul.search li a { 124 | font-weight: bold; 125 | } 126 | 127 | ul.search li div.context { 128 | color: #888; 129 | margin: 2px 0 0 30px; 130 | text-align: left; 131 | } 132 | 133 | ul.keywordmatches li.goodmatch a { 134 | font-weight: bold; 135 | } 136 | 137 | /* -- index page ------------------------------------------------------------ */ 138 | 139 | table.contentstable { 140 | width: 90%; 141 | margin-left: auto; 142 | margin-right: auto; 143 | } 144 | 145 | table.contentstable p.biglink { 146 | line-height: 150%; 147 | } 148 | 149 | a.biglink { 150 | font-size: 1.3em; 151 | } 152 | 153 | span.linkdescr { 154 | font-style: italic; 155 | padding-top: 5px; 156 | font-size: 90%; 157 | } 158 | 159 | /* -- general index --------------------------------------------------------- */ 160 | 161 | table.indextable { 162 | width: 100%; 163 | } 164 | 165 | table.indextable td { 166 | text-align: left; 167 | vertical-align: top; 168 | } 169 | 170 | table.indextable ul { 171 | margin-top: 0; 172 | margin-bottom: 0; 173 | list-style-type: none; 174 | } 175 | 176 | table.indextable > tbody > tr > td > ul { 177 | padding-left: 0em; 178 | } 179 | 180 | table.indextable tr.pcap { 181 | height: 10px; 182 | } 183 | 184 | table.indextable tr.cap { 185 | margin-top: 10px; 186 | background-color: #f2f2f2; 187 | } 188 | 189 | img.toggler { 190 | margin-right: 3px; 191 | margin-top: 3px; 192 | cursor: pointer; 193 | } 194 | 195 | div.modindex-jumpbox { 196 | border-top: 1px solid #ddd; 197 | border-bottom: 1px solid #ddd; 198 | margin: 1em 0 1em 0; 199 | padding: 0.4em; 200 | } 201 | 202 | div.genindex-jumpbox { 203 | border-top: 1px solid #ddd; 204 | border-bottom: 1px solid #ddd; 205 | margin: 1em 0 1em 0; 206 | padding: 0.4em; 207 | } 208 | 209 | /* -- domain module index --------------------------------------------------- */ 210 | 211 | table.modindextable td { 212 | padding: 2px; 213 | border-collapse: collapse; 214 | } 215 | 216 | /* -- general body styles --------------------------------------------------- */ 217 | 218 | div.body { 219 | min-width: 450px; 220 | max-width: 800px; 221 | } 222 | 223 | div.body p, div.body dd, div.body li, div.body blockquote { 224 | -moz-hyphens: auto; 225 | -ms-hyphens: auto; 226 | -webkit-hyphens: auto; 227 | hyphens: auto; 228 | } 229 | 230 | a.headerlink { 231 | visibility: hidden; 232 | } 233 | 234 | a.brackets:before, 235 | span.brackets > a:before{ 236 | content: "["; 237 | } 238 | 239 | a.brackets:after, 240 | span.brackets > a:after { 241 | content: "]"; 242 | } 243 | 244 | h1:hover > a.headerlink, 245 | h2:hover > a.headerlink, 246 | h3:hover > a.headerlink, 247 | h4:hover > a.headerlink, 248 | h5:hover > a.headerlink, 249 | h6:hover > a.headerlink, 250 | dt:hover > a.headerlink, 251 | caption:hover > a.headerlink, 252 | p.caption:hover > a.headerlink, 253 | div.code-block-caption:hover > a.headerlink { 254 | visibility: visible; 255 | } 256 | 257 | div.body p.caption { 258 | text-align: inherit; 259 | } 260 | 261 | div.body td { 262 | text-align: left; 263 | } 264 | 265 | .first { 266 | margin-top: 0 !important; 267 | } 268 | 269 | p.rubric { 270 | margin-top: 30px; 271 | font-weight: bold; 272 | } 273 | 274 | img.align-left, .figure.align-left, object.align-left { 275 | clear: left; 276 | float: left; 277 | margin-right: 1em; 278 | } 279 | 280 | img.align-right, .figure.align-right, object.align-right { 281 | clear: right; 282 | float: right; 283 | margin-left: 1em; 284 | } 285 | 286 | img.align-center, .figure.align-center, object.align-center { 287 | display: block; 288 | margin-left: auto; 289 | margin-right: auto; 290 | } 291 | 292 | img.align-default, .figure.align-default { 293 | display: block; 294 | margin-left: auto; 295 | margin-right: auto; 296 | } 297 | 298 | .align-left { 299 | text-align: left; 300 | } 301 | 302 | .align-center { 303 | text-align: center; 304 | } 305 | 306 | .align-default { 307 | text-align: center; 308 | } 309 | 310 | .align-right { 311 | text-align: right; 312 | } 313 | 314 | /* -- sidebars -------------------------------------------------------------- */ 315 | 316 | div.sidebar { 317 | margin: 0 0 0.5em 1em; 318 | border: 1px solid #ddb; 319 | padding: 7px; 320 | background-color: #ffe; 321 | width: 40%; 322 | float: right; 323 | clear: right; 324 | overflow-x: auto; 325 | } 326 | 327 | p.sidebar-title { 328 | font-weight: bold; 329 | } 330 | 331 | div.admonition, div.topic, pre, div[class|="highlight"] { 332 | clear: both; 333 | } 334 | 335 | /* -- topics ---------------------------------------------------------------- */ 336 | 337 | div.topic { 338 | border: 1px solid #ccc; 339 | padding: 7px; 340 | margin: 10px 0 10px 0; 341 | overflow-x: auto; 342 | } 343 | 344 | p.topic-title { 345 | font-size: 1.1em; 346 | font-weight: bold; 347 | margin-top: 10px; 348 | } 349 | 350 | /* -- admonitions ----------------------------------------------------------- */ 351 | 352 | div.admonition { 353 | margin-top: 10px; 354 | margin-bottom: 10px; 355 | padding: 7px; 356 | overflow-x: auto; 357 | } 358 | 359 | div.admonition dt { 360 | font-weight: bold; 361 | } 362 | 363 | p.admonition-title { 364 | margin: 0px 10px 5px 0px; 365 | font-weight: bold; 366 | } 367 | 368 | div.body p.centered { 369 | text-align: center; 370 | margin-top: 25px; 371 | } 372 | 373 | /* -- content of sidebars/topics/admonitions -------------------------------- */ 374 | 375 | div.sidebar > :last-child, 376 | div.topic > :last-child, 377 | div.admonition > :last-child { 378 | margin-bottom: 0; 379 | } 380 | 381 | /* -- tables ---------------------------------------------------------------- */ 382 | 383 | table.docutils { 384 | margin-top: 10px; 385 | margin-bottom: 10px; 386 | border: 0; 387 | border-collapse: collapse; 388 | } 389 | 390 | table.align-center { 391 | margin-left: auto; 392 | margin-right: auto; 393 | } 394 | 395 | table.align-default { 396 | margin-left: auto; 397 | margin-right: auto; 398 | } 399 | 400 | table caption span.caption-number { 401 | font-style: italic; 402 | } 403 | 404 | table caption span.caption-text { 405 | } 406 | 407 | table.docutils td, table.docutils th { 408 | padding: 1px 8px 1px 5px; 409 | border-top: 0; 410 | border-left: 0; 411 | border-right: 0; 412 | border-bottom: 1px solid #aaa; 413 | } 414 | 415 | table.footnote td, table.footnote th { 416 | border: 0 !important; 417 | } 418 | 419 | th { 420 | text-align: left; 421 | padding-right: 5px; 422 | } 423 | 424 | table.citation { 425 | border-left: solid 1px gray; 426 | margin-left: 1px; 427 | } 428 | 429 | table.citation td { 430 | border-bottom: none; 431 | } 432 | 433 | th > :first-child, 434 | td > :first-child { 435 | margin-top: 0px; 436 | } 437 | 438 | th > :last-child, 439 | td > :last-child { 440 | margin-bottom: 0px; 441 | } 442 | 443 | /* -- figures --------------------------------------------------------------- */ 444 | 445 | div.figure { 446 | margin: 0.5em; 447 | padding: 0.5em; 448 | } 449 | 450 | div.figure p.caption { 451 | padding: 0.3em; 452 | } 453 | 454 | div.figure p.caption span.caption-number { 455 | font-style: italic; 456 | } 457 | 458 | div.figure p.caption span.caption-text { 459 | } 460 | 461 | /* -- field list styles ----------------------------------------------------- */ 462 | 463 | table.field-list td, table.field-list th { 464 | border: 0 !important; 465 | } 466 | 467 | .field-list ul { 468 | margin: 0; 469 | padding-left: 1em; 470 | } 471 | 472 | .field-list p { 473 | margin: 0; 474 | } 475 | 476 | .field-name { 477 | -moz-hyphens: manual; 478 | -ms-hyphens: manual; 479 | -webkit-hyphens: manual; 480 | hyphens: manual; 481 | } 482 | 483 | /* -- hlist styles ---------------------------------------------------------- */ 484 | 485 | table.hlist { 486 | margin: 1em 0; 487 | } 488 | 489 | table.hlist td { 490 | vertical-align: top; 491 | } 492 | 493 | 494 | /* -- other body styles ----------------------------------------------------- */ 495 | 496 | ol.arabic { 497 | list-style: decimal; 498 | } 499 | 500 | ol.loweralpha { 501 | list-style: lower-alpha; 502 | } 503 | 504 | ol.upperalpha { 505 | list-style: upper-alpha; 506 | } 507 | 508 | ol.lowerroman { 509 | list-style: lower-roman; 510 | } 511 | 512 | ol.upperroman { 513 | list-style: upper-roman; 514 | } 515 | 516 | ol > li:first-child > :first-child, 517 | ul > li:first-child > :first-child { 518 | margin-top: 0px; 519 | } 520 | 521 | ol ol > li:first-child > :first-child, 522 | ol ul > li:first-child > :first-child, 523 | ul ol > li:first-child > :first-child, 524 | ul ul > li:first-child > :first-child { 525 | margin-top: revert; 526 | } 527 | 528 | ol > li:last-child > :last-child, 529 | ul > li:last-child > :last-child { 530 | margin-bottom: 0px; 531 | } 532 | 533 | ol ol > li:last-child > :last-child, 534 | ol ul > li:last-child > :last-child, 535 | ul ol > li:last-child > :last-child, 536 | ul ul > li:last-child > :last-child { 537 | margin-bottom: revert; 538 | } 539 | 540 | dl.footnote > dt, 541 | dl.citation > dt { 542 | float: left; 543 | margin-right: 0.5em; 544 | } 545 | 546 | dl.footnote > dd, 547 | dl.citation > dd { 548 | margin-bottom: 0em; 549 | } 550 | 551 | dl.footnote > dd:after, 552 | dl.citation > dd:after { 553 | content: ""; 554 | clear: both; 555 | } 556 | 557 | dl.field-list { 558 | display: grid; 559 | grid-template-columns: fit-content(30%) auto; 560 | } 561 | 562 | dl.field-list > dt { 563 | font-weight: bold; 564 | word-break: break-word; 565 | padding-left: 0.5em; 566 | padding-right: 5px; 567 | } 568 | 569 | dl.field-list > dt:after { 570 | content: ":"; 571 | } 572 | 573 | dl.field-list > dd { 574 | padding-left: 0.5em; 575 | margin-top: 0em; 576 | margin-left: 0em; 577 | margin-bottom: 0em; 578 | } 579 | 580 | dl { 581 | margin-bottom: 15px; 582 | } 583 | 584 | dd > :first-child { 585 | margin-top: 0px; 586 | } 587 | 588 | dd ul, dd table { 589 | margin-bottom: 10px; 590 | } 591 | 592 | dd { 593 | margin-top: 3px; 594 | margin-bottom: 10px; 595 | margin-left: 30px; 596 | } 597 | 598 | dl > dd:last-child, 599 | dl > dd:last-child > :last-child { 600 | margin-bottom: 0; 601 | } 602 | 603 | dt:target, span.highlighted { 604 | background-color: #fbe54e; 605 | } 606 | 607 | rect.highlighted { 608 | fill: #fbe54e; 609 | } 610 | 611 | dl.glossary dt { 612 | font-weight: bold; 613 | font-size: 1.1em; 614 | } 615 | 616 | .optional { 617 | font-size: 1.3em; 618 | } 619 | 620 | .sig-paren { 621 | font-size: larger; 622 | } 623 | 624 | .versionmodified { 625 | font-style: italic; 626 | } 627 | 628 | .system-message { 629 | background-color: #fda; 630 | padding: 5px; 631 | border: 3px solid red; 632 | } 633 | 634 | .footnote:target { 635 | background-color: #ffa; 636 | } 637 | 638 | .line-block { 639 | display: block; 640 | margin-top: 1em; 641 | margin-bottom: 1em; 642 | } 643 | 644 | .line-block .line-block { 645 | margin-top: 0; 646 | margin-bottom: 0; 647 | margin-left: 1.5em; 648 | } 649 | 650 | .guilabel, .menuselection { 651 | font-family: sans-serif; 652 | } 653 | 654 | .accelerator { 655 | text-decoration: underline; 656 | } 657 | 658 | .classifier { 659 | font-style: oblique; 660 | } 661 | 662 | .classifier:before { 663 | font-style: normal; 664 | margin: 0.5em; 665 | content: ":"; 666 | } 667 | 668 | abbr, acronym { 669 | border-bottom: dotted 1px; 670 | cursor: help; 671 | } 672 | 673 | /* -- code displays --------------------------------------------------------- */ 674 | 675 | pre { 676 | overflow: auto; 677 | overflow-y: hidden; /* fixes display issues on Chrome browsers */ 678 | } 679 | 680 | span.pre { 681 | -moz-hyphens: none; 682 | -ms-hyphens: none; 683 | -webkit-hyphens: none; 684 | hyphens: none; 685 | } 686 | 687 | div[class^="highlight-"] { 688 | margin: 1em 0; 689 | } 690 | 691 | td.linenos pre { 692 | border: 0; 693 | background-color: transparent; 694 | color: #aaa; 695 | } 696 | 697 | table.highlighttable { 698 | display: block; 699 | } 700 | 701 | table.highlighttable tbody { 702 | display: block; 703 | } 704 | 705 | table.highlighttable tr { 706 | display: flex; 707 | } 708 | 709 | table.highlighttable td { 710 | margin: 0; 711 | padding: 0; 712 | } 713 | 714 | table.highlighttable td.linenos { 715 | padding-right: 0.5em; 716 | } 717 | 718 | table.highlighttable td.code { 719 | flex: 1; 720 | overflow: hidden; 721 | } 722 | 723 | .highlight .hll { 724 | display: block; 725 | } 726 | 727 | div.highlight pre, 728 | table.highlighttable pre { 729 | margin: 0; 730 | } 731 | 732 | div.code-block-caption + div { 733 | margin-top: 0; 734 | } 735 | 736 | div.code-block-caption { 737 | margin-top: 1em; 738 | padding: 2px 5px; 739 | font-size: small; 740 | } 741 | 742 | div.code-block-caption code { 743 | background-color: transparent; 744 | } 745 | 746 | table.highlighttable td.linenos, 747 | div.doctest > div.highlight span.gp { /* gp: Generic.Prompt */ 748 | user-select: none; 749 | } 750 | 751 | div.code-block-caption span.caption-number { 752 | padding: 0.1em 0.3em; 753 | font-style: italic; 754 | } 755 | 756 | div.code-block-caption span.caption-text { 757 | } 758 | 759 | div.literal-block-wrapper { 760 | margin: 1em 0; 761 | } 762 | 763 | code.descname { 764 | background-color: transparent; 765 | font-weight: bold; 766 | font-size: 1.2em; 767 | } 768 | 769 | code.descclassname { 770 | background-color: transparent; 771 | } 772 | 773 | code.xref, a code { 774 | background-color: transparent; 775 | font-weight: bold; 776 | } 777 | 778 | h1 code, h2 code, h3 code, h4 code, h5 code, h6 code { 779 | background-color: transparent; 780 | } 781 | 782 | .viewcode-link { 783 | float: right; 784 | } 785 | 786 | .viewcode-back { 787 | float: right; 788 | font-family: sans-serif; 789 | } 790 | 791 | div.viewcode-block:target { 792 | margin: -1px -10px; 793 | padding: 0 10px; 794 | } 795 | 796 | /* -- math display ---------------------------------------------------------- */ 797 | 798 | img.math { 799 | vertical-align: middle; 800 | } 801 | 802 | div.body div.math p { 803 | text-align: center; 804 | } 805 | 806 | span.eqno { 807 | float: right; 808 | } 809 | 810 | span.eqno a.headerlink { 811 | position: absolute; 812 | z-index: 1; 813 | } 814 | 815 | div.math:hover a.headerlink { 816 | visibility: visible; 817 | } 818 | 819 | /* -- printout stylesheet --------------------------------------------------- */ 820 | 821 | @media print { 822 | div.document, 823 | div.documentwrapper, 824 | div.bodywrapper { 825 | margin: 0 !important; 826 | width: 100%; 827 | } 828 | 829 | div.sphinxsidebar, 830 | div.related, 831 | div.footer, 832 | #top-link { 833 | display: none; 834 | } 835 | } -------------------------------------------------------------------------------- /docs/_build/html/_static/classic.css: -------------------------------------------------------------------------------- 1 | /* 2 | * classic.css_t 3 | * ~~~~~~~~~~~~~ 4 | * 5 | * Sphinx stylesheet -- classic theme. 6 | * 7 | * :copyright: Copyright 2007-2020 by the Sphinx team, see AUTHORS. 8 | * :license: BSD, see LICENSE for details. 9 | * 10 | */ 11 | 12 | @import url("basic.css"); 13 | 14 | /* -- page layout ----------------------------------------------------------- */ 15 | 16 | html { 17 | /* CSS hack for macOS's scrollbar (see #1125) */ 18 | background-color: #FFFFFF; 19 | } 20 | 21 | body { 22 | font-family: sans-serif; 23 | font-size: 100%; 24 | background-color: #11303d; 25 | color: #000; 26 | margin: 0; 27 | padding: 0; 28 | } 29 | 30 | div.document { 31 | background-color: #1c4e63; 32 | } 33 | 34 | div.documentwrapper { 35 | float: left; 36 | width: 100%; 37 | } 38 | 39 | div.bodywrapper { 40 | margin: 0 0 0 230px; 41 | } 42 | 43 | div.body { 44 | background-color: #ffffff; 45 | color: #000000; 46 | padding: 0 20px 30px 20px; 47 | } 48 | 49 | div.footer { 50 | color: #ffffff; 51 | width: 100%; 52 | padding: 9px 0 9px 0; 53 | text-align: center; 54 | font-size: 75%; 55 | } 56 | 57 | div.footer a { 58 | color: #ffffff; 59 | text-decoration: underline; 60 | } 61 | 62 | div.related { 63 | background-color: #133f52; 64 | line-height: 30px; 65 | color: #ffffff; 66 | } 67 | 68 | div.related a { 69 | color: #ffffff; 70 | } 71 | 72 | div.sphinxsidebar { 73 | } 74 | 75 | div.sphinxsidebar h3 { 76 | font-family: 'Trebuchet MS', sans-serif; 77 | color: #ffffff; 78 | font-size: 1.4em; 79 | font-weight: normal; 80 | margin: 0; 81 | padding: 0; 82 | } 83 | 84 | div.sphinxsidebar h3 a { 85 | color: #ffffff; 86 | } 87 | 88 | div.sphinxsidebar h4 { 89 | font-family: 'Trebuchet MS', sans-serif; 90 | color: #ffffff; 91 | font-size: 1.3em; 92 | font-weight: normal; 93 | margin: 5px 0 0 0; 94 | padding: 0; 95 | } 96 | 97 | div.sphinxsidebar p { 98 | color: #ffffff; 99 | } 100 | 101 | div.sphinxsidebar p.topless { 102 | margin: 5px 10px 10px 10px; 103 | } 104 | 105 | div.sphinxsidebar ul { 106 | margin: 10px; 107 | padding: 0; 108 | color: #ffffff; 109 | } 110 | 111 | div.sphinxsidebar a { 112 | color: #98dbcc; 113 | } 114 | 115 | div.sphinxsidebar input { 116 | border: 1px solid #98dbcc; 117 | font-family: sans-serif; 118 | font-size: 1em; 119 | } 120 | 121 | 122 | 123 | /* -- hyperlink styles ------------------------------------------------------ */ 124 | 125 | a { 126 | color: #355f7c; 127 | text-decoration: none; 128 | } 129 | 130 | a:visited { 131 | color: #355f7c; 132 | text-decoration: none; 133 | } 134 | 135 | a:hover { 136 | text-decoration: underline; 137 | } 138 | 139 | 140 | 141 | /* -- body styles ----------------------------------------------------------- */ 142 | 143 | div.body h1, 144 | div.body h2, 145 | div.body h3, 146 | div.body h4, 147 | div.body h5, 148 | div.body h6 { 149 | font-family: 'Trebuchet MS', sans-serif; 150 | background-color: #f2f2f2; 151 | font-weight: normal; 152 | color: #20435c; 153 | border-bottom: 1px solid #ccc; 154 | margin: 20px -20px 10px -20px; 155 | padding: 3px 0 3px 10px; 156 | } 157 | 158 | div.body h1 { margin-top: 0; font-size: 200%; } 159 | div.body h2 { font-size: 160%; } 160 | div.body h3 { font-size: 140%; } 161 | div.body h4 { font-size: 120%; } 162 | div.body h5 { font-size: 110%; } 163 | div.body h6 { font-size: 100%; } 164 | 165 | a.headerlink { 166 | color: #c60f0f; 167 | font-size: 0.8em; 168 | padding: 0 4px 0 4px; 169 | text-decoration: none; 170 | } 171 | 172 | a.headerlink:hover { 173 | background-color: #c60f0f; 174 | color: white; 175 | } 176 | 177 | div.body p, div.body dd, div.body li, div.body blockquote { 178 | text-align: justify; 179 | line-height: 130%; 180 | } 181 | 182 | div.admonition p.admonition-title + p { 183 | display: inline; 184 | } 185 | 186 | div.admonition p { 187 | margin-bottom: 5px; 188 | } 189 | 190 | div.admonition pre { 191 | margin-bottom: 5px; 192 | } 193 | 194 | div.admonition ul, div.admonition ol { 195 | margin-bottom: 5px; 196 | } 197 | 198 | div.note { 199 | background-color: #eee; 200 | border: 1px solid #ccc; 201 | } 202 | 203 | div.seealso { 204 | background-color: #ffc; 205 | border: 1px solid #ff6; 206 | } 207 | 208 | div.topic { 209 | background-color: #eee; 210 | } 211 | 212 | div.warning { 213 | background-color: #ffe4e4; 214 | border: 1px solid #f66; 215 | } 216 | 217 | p.admonition-title { 218 | display: inline; 219 | } 220 | 221 | p.admonition-title:after { 222 | content: ":"; 223 | } 224 | 225 | pre { 226 | padding: 5px; 227 | background-color: unset; 228 | color: unset; 229 | line-height: 120%; 230 | border: 1px solid #ac9; 231 | border-left: none; 232 | border-right: none; 233 | } 234 | 235 | code { 236 | background-color: #ecf0f3; 237 | padding: 0 1px 0 1px; 238 | font-size: 0.95em; 239 | } 240 | 241 | th, dl.field-list > dt { 242 | background-color: #ede; 243 | } 244 | 245 | .warning code { 246 | background: #efc2c2; 247 | } 248 | 249 | .note code { 250 | background: #d6d6d6; 251 | } 252 | 253 | .viewcode-back { 254 | font-family: sans-serif; 255 | } 256 | 257 | div.viewcode-block:target { 258 | background-color: #f4debf; 259 | border-top: 1px solid #ac9; 260 | border-bottom: 1px solid #ac9; 261 | } 262 | 263 | div.code-block-caption { 264 | color: #efefef; 265 | background-color: #1c4e63; 266 | } -------------------------------------------------------------------------------- /docs/_build/html/_static/custom.css: -------------------------------------------------------------------------------- 1 | /* This file intentionally left blank. */ 2 | -------------------------------------------------------------------------------- /docs/_build/html/_static/default.css: -------------------------------------------------------------------------------- 1 | @import url("classic.css"); 2 | -------------------------------------------------------------------------------- /docs/_build/html/_static/doctools.js: -------------------------------------------------------------------------------- 1 | /* 2 | * doctools.js 3 | * ~~~~~~~~~~~ 4 | * 5 | * Sphinx JavaScript utilities for all documentation. 6 | * 7 | * :copyright: Copyright 2007-2020 by the Sphinx team, see AUTHORS. 8 | * :license: BSD, see LICENSE for details. 9 | * 10 | */ 11 | 12 | /** 13 | * select a different prefix for underscore 14 | */ 15 | $u = _.noConflict(); 16 | 17 | /** 18 | * make the code below compatible with browsers without 19 | * an installed firebug like debugger 20 | if (!window.console || !console.firebug) { 21 | var names = ["log", "debug", "info", "warn", "error", "assert", "dir", 22 | "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", 23 | "profile", "profileEnd"]; 24 | window.console = {}; 25 | for (var i = 0; i < names.length; ++i) 26 | window.console[names[i]] = function() {}; 27 | } 28 | */ 29 | 30 | /** 31 | * small helper function to urldecode strings 32 | */ 33 | jQuery.urldecode = function(x) { 34 | return decodeURIComponent(x).replace(/\+/g, ' '); 35 | }; 36 | 37 | /** 38 | * small helper function to urlencode strings 39 | */ 40 | jQuery.urlencode = encodeURIComponent; 41 | 42 | /** 43 | * This function returns the parsed url parameters of the 44 | * current request. Multiple values per key are supported, 45 | * it will always return arrays of strings for the value parts. 46 | */ 47 | jQuery.getQueryParameters = function(s) { 48 | if (typeof s === 'undefined') 49 | s = document.location.search; 50 | var parts = s.substr(s.indexOf('?') + 1).split('&'); 51 | var result = {}; 52 | for (var i = 0; i < parts.length; i++) { 53 | var tmp = parts[i].split('=', 2); 54 | var key = jQuery.urldecode(tmp[0]); 55 | var value = jQuery.urldecode(tmp[1]); 56 | if (key in result) 57 | result[key].push(value); 58 | else 59 | result[key] = [value]; 60 | } 61 | return result; 62 | }; 63 | 64 | /** 65 | * highlight a given string on a jquery object by wrapping it in 66 | * span elements with the given class name. 67 | */ 68 | jQuery.fn.highlightText = function(text, className) { 69 | function highlight(node, addItems) { 70 | if (node.nodeType === 3) { 71 | var val = node.nodeValue; 72 | var pos = val.toLowerCase().indexOf(text); 73 | if (pos >= 0 && 74 | !jQuery(node.parentNode).hasClass(className) && 75 | !jQuery(node.parentNode).hasClass("nohighlight")) { 76 | var span; 77 | var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); 78 | if (isInSVG) { 79 | span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); 80 | } else { 81 | span = document.createElement("span"); 82 | span.className = className; 83 | } 84 | span.appendChild(document.createTextNode(val.substr(pos, text.length))); 85 | node.parentNode.insertBefore(span, node.parentNode.insertBefore( 86 | document.createTextNode(val.substr(pos + text.length)), 87 | node.nextSibling)); 88 | node.nodeValue = val.substr(0, pos); 89 | if (isInSVG) { 90 | var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); 91 | var bbox = node.parentElement.getBBox(); 92 | rect.x.baseVal.value = bbox.x; 93 | rect.y.baseVal.value = bbox.y; 94 | rect.width.baseVal.value = bbox.width; 95 | rect.height.baseVal.value = bbox.height; 96 | rect.setAttribute('class', className); 97 | addItems.push({ 98 | "parent": node.parentNode, 99 | "target": rect}); 100 | } 101 | } 102 | } 103 | else if (!jQuery(node).is("button, select, textarea")) { 104 | jQuery.each(node.childNodes, function() { 105 | highlight(this, addItems); 106 | }); 107 | } 108 | } 109 | var addItems = []; 110 | var result = this.each(function() { 111 | highlight(this, addItems); 112 | }); 113 | for (var i = 0; i < addItems.length; ++i) { 114 | jQuery(addItems[i].parent).before(addItems[i].target); 115 | } 116 | return result; 117 | }; 118 | 119 | /* 120 | * backward compatibility for jQuery.browser 121 | * This will be supported until firefox bug is fixed. 122 | */ 123 | if (!jQuery.browser) { 124 | jQuery.uaMatch = function(ua) { 125 | ua = ua.toLowerCase(); 126 | 127 | var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || 128 | /(webkit)[ \/]([\w.]+)/.exec(ua) || 129 | /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || 130 | /(msie) ([\w.]+)/.exec(ua) || 131 | ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || 132 | []; 133 | 134 | return { 135 | browser: match[ 1 ] || "", 136 | version: match[ 2 ] || "0" 137 | }; 138 | }; 139 | jQuery.browser = {}; 140 | jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; 141 | } 142 | 143 | /** 144 | * Small JavaScript module for the documentation. 145 | */ 146 | var Documentation = { 147 | 148 | init : function() { 149 | this.fixFirefoxAnchorBug(); 150 | this.highlightSearchWords(); 151 | this.initIndexTable(); 152 | if (DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) { 153 | this.initOnKeyListeners(); 154 | } 155 | }, 156 | 157 | /** 158 | * i18n support 159 | */ 160 | TRANSLATIONS : {}, 161 | PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, 162 | LOCALE : 'unknown', 163 | 164 | // gettext and ngettext don't access this so that the functions 165 | // can safely bound to a different name (_ = Documentation.gettext) 166 | gettext : function(string) { 167 | var translated = Documentation.TRANSLATIONS[string]; 168 | if (typeof translated === 'undefined') 169 | return string; 170 | return (typeof translated === 'string') ? translated : translated[0]; 171 | }, 172 | 173 | ngettext : function(singular, plural, n) { 174 | var translated = Documentation.TRANSLATIONS[singular]; 175 | if (typeof translated === 'undefined') 176 | return (n == 1) ? singular : plural; 177 | return translated[Documentation.PLURALEXPR(n)]; 178 | }, 179 | 180 | addTranslations : function(catalog) { 181 | for (var key in catalog.messages) 182 | this.TRANSLATIONS[key] = catalog.messages[key]; 183 | this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); 184 | this.LOCALE = catalog.locale; 185 | }, 186 | 187 | /** 188 | * add context elements like header anchor links 189 | */ 190 | addContextElements : function() { 191 | $('div[id] > :header:first').each(function() { 192 | $('\u00B6'). 193 | attr('href', '#' + this.id). 194 | attr('title', _('Permalink to this headline')). 195 | appendTo(this); 196 | }); 197 | $('dt[id]').each(function() { 198 | $('\u00B6'). 199 | attr('href', '#' + this.id). 200 | attr('title', _('Permalink to this definition')). 201 | appendTo(this); 202 | }); 203 | }, 204 | 205 | /** 206 | * workaround a firefox stupidity 207 | * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 208 | */ 209 | fixFirefoxAnchorBug : function() { 210 | if (document.location.hash && $.browser.mozilla) 211 | window.setTimeout(function() { 212 | document.location.href += ''; 213 | }, 10); 214 | }, 215 | 216 | /** 217 | * highlight the search words provided in the url in the text 218 | */ 219 | highlightSearchWords : function() { 220 | var params = $.getQueryParameters(); 221 | var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; 222 | if (terms.length) { 223 | var body = $('div.body'); 224 | if (!body.length) { 225 | body = $('body'); 226 | } 227 | window.setTimeout(function() { 228 | $.each(terms, function() { 229 | body.highlightText(this.toLowerCase(), 'highlighted'); 230 | }); 231 | }, 10); 232 | $('

' + _('Hide Search Matches') + '

') 234 | .appendTo($('#searchbox')); 235 | } 236 | }, 237 | 238 | /** 239 | * init the domain index toggle buttons 240 | */ 241 | initIndexTable : function() { 242 | var togglers = $('img.toggler').click(function() { 243 | var src = $(this).attr('src'); 244 | var idnum = $(this).attr('id').substr(7); 245 | $('tr.cg-' + idnum).toggle(); 246 | if (src.substr(-9) === 'minus.png') 247 | $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); 248 | else 249 | $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); 250 | }).css('display', ''); 251 | if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { 252 | togglers.click(); 253 | } 254 | }, 255 | 256 | /** 257 | * helper function to hide the search marks again 258 | */ 259 | hideSearchWords : function() { 260 | $('#searchbox .highlight-link').fadeOut(300); 261 | $('span.highlighted').removeClass('highlighted'); 262 | }, 263 | 264 | /** 265 | * make the url absolute 266 | */ 267 | makeURL : function(relativeURL) { 268 | return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; 269 | }, 270 | 271 | /** 272 | * get the current relative url 273 | */ 274 | getCurrentURL : function() { 275 | var path = document.location.pathname; 276 | var parts = path.split(/\//); 277 | $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { 278 | if (this === '..') 279 | parts.pop(); 280 | }); 281 | var url = parts.join('/'); 282 | return path.substring(url.lastIndexOf('/') + 1, path.length - 1); 283 | }, 284 | 285 | initOnKeyListeners: function() { 286 | $(document).keydown(function(event) { 287 | var activeElementType = document.activeElement.tagName; 288 | // don't navigate when in search box or textarea 289 | if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' 290 | && !event.altKey && !event.ctrlKey && !event.metaKey && !event.shiftKey) { 291 | switch (event.keyCode) { 292 | case 37: // left 293 | var prevHref = $('link[rel="prev"]').prop('href'); 294 | if (prevHref) { 295 | window.location.href = prevHref; 296 | return false; 297 | } 298 | case 39: // right 299 | var nextHref = $('link[rel="next"]').prop('href'); 300 | if (nextHref) { 301 | window.location.href = nextHref; 302 | return false; 303 | } 304 | } 305 | } 306 | }); 307 | } 308 | }; 309 | 310 | // quick alias for translations 311 | _ = Documentation.gettext; 312 | 313 | $(document).ready(function() { 314 | Documentation.init(); 315 | }); 316 | -------------------------------------------------------------------------------- /docs/_build/html/_static/documentation_options.js: -------------------------------------------------------------------------------- 1 | var DOCUMENTATION_OPTIONS = { 2 | URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), 3 | VERSION: 'v0.0.7', 4 | LANGUAGE: 'None', 5 | COLLAPSE_INDEX: false, 6 | BUILDER: 'html', 7 | FILE_SUFFIX: '.html', 8 | LINK_SUFFIX: '.html', 9 | HAS_SOURCE: true, 10 | SOURCELINK_SUFFIX: '.txt', 11 | NAVIGATION_WITH_KEYS: false 12 | }; -------------------------------------------------------------------------------- /docs/_build/html/_static/file.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/html/_static/file.png -------------------------------------------------------------------------------- /docs/_build/html/_static/language_data.js: -------------------------------------------------------------------------------- 1 | /* 2 | * language_data.js 3 | * ~~~~~~~~~~~~~~~~ 4 | * 5 | * This script contains the language-specific data used by searchtools.js, 6 | * namely the list of stopwords, stemmer, scorer and splitter. 7 | * 8 | * :copyright: Copyright 2007-2020 by the Sphinx team, see AUTHORS. 9 | * :license: BSD, see LICENSE for details. 10 | * 11 | */ 12 | 13 | var stopwords = ["a","and","are","as","at","be","but","by","for","if","in","into","is","it","near","no","not","of","on","or","such","that","the","their","then","there","these","they","this","to","was","will","with"]; 14 | 15 | 16 | /* Non-minified version JS is _stemmer.js if file is provided */ 17 | /** 18 | * Porter Stemmer 19 | */ 20 | var Stemmer = function() { 21 | 22 | var step2list = { 23 | ational: 'ate', 24 | tional: 'tion', 25 | enci: 'ence', 26 | anci: 'ance', 27 | izer: 'ize', 28 | bli: 'ble', 29 | alli: 'al', 30 | entli: 'ent', 31 | eli: 'e', 32 | ousli: 'ous', 33 | ization: 'ize', 34 | ation: 'ate', 35 | ator: 'ate', 36 | alism: 'al', 37 | iveness: 'ive', 38 | fulness: 'ful', 39 | ousness: 'ous', 40 | aliti: 'al', 41 | iviti: 'ive', 42 | biliti: 'ble', 43 | logi: 'log' 44 | }; 45 | 46 | var step3list = { 47 | icate: 'ic', 48 | ative: '', 49 | alize: 'al', 50 | iciti: 'ic', 51 | ical: 'ic', 52 | ful: '', 53 | ness: '' 54 | }; 55 | 56 | var c = "[^aeiou]"; // consonant 57 | var v = "[aeiouy]"; // vowel 58 | var C = c + "[^aeiouy]*"; // consonant sequence 59 | var V = v + "[aeiou]*"; // vowel sequence 60 | 61 | var mgr0 = "^(" + C + ")?" + V + C; // [C]VC... is m>0 62 | var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$"; // [C]VC[V] is m=1 63 | var mgr1 = "^(" + C + ")?" + V + C + V + C; // [C]VCVC... is m>1 64 | var s_v = "^(" + C + ")?" + v; // vowel in stem 65 | 66 | this.stemWord = function (w) { 67 | var stem; 68 | var suffix; 69 | var firstch; 70 | var origword = w; 71 | 72 | if (w.length < 3) 73 | return w; 74 | 75 | var re; 76 | var re2; 77 | var re3; 78 | var re4; 79 | 80 | firstch = w.substr(0,1); 81 | if (firstch == "y") 82 | w = firstch.toUpperCase() + w.substr(1); 83 | 84 | // Step 1a 85 | re = /^(.+?)(ss|i)es$/; 86 | re2 = /^(.+?)([^s])s$/; 87 | 88 | if (re.test(w)) 89 | w = w.replace(re,"$1$2"); 90 | else if (re2.test(w)) 91 | w = w.replace(re2,"$1$2"); 92 | 93 | // Step 1b 94 | re = /^(.+?)eed$/; 95 | re2 = /^(.+?)(ed|ing)$/; 96 | if (re.test(w)) { 97 | var fp = re.exec(w); 98 | re = new RegExp(mgr0); 99 | if (re.test(fp[1])) { 100 | re = /.$/; 101 | w = w.replace(re,""); 102 | } 103 | } 104 | else if (re2.test(w)) { 105 | var fp = re2.exec(w); 106 | stem = fp[1]; 107 | re2 = new RegExp(s_v); 108 | if (re2.test(stem)) { 109 | w = stem; 110 | re2 = /(at|bl|iz)$/; 111 | re3 = new RegExp("([^aeiouylsz])\\1$"); 112 | re4 = new RegExp("^" + C + v + "[^aeiouwxy]$"); 113 | if (re2.test(w)) 114 | w = w + "e"; 115 | else if (re3.test(w)) { 116 | re = /.$/; 117 | w = w.replace(re,""); 118 | } 119 | else if (re4.test(w)) 120 | w = w + "e"; 121 | } 122 | } 123 | 124 | // Step 1c 125 | re = /^(.+?)y$/; 126 | if (re.test(w)) { 127 | var fp = re.exec(w); 128 | stem = fp[1]; 129 | re = new RegExp(s_v); 130 | if (re.test(stem)) 131 | w = stem + "i"; 132 | } 133 | 134 | // Step 2 135 | re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/; 136 | if (re.test(w)) { 137 | var fp = re.exec(w); 138 | stem = fp[1]; 139 | suffix = fp[2]; 140 | re = new RegExp(mgr0); 141 | if (re.test(stem)) 142 | w = stem + step2list[suffix]; 143 | } 144 | 145 | // Step 3 146 | re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/; 147 | if (re.test(w)) { 148 | var fp = re.exec(w); 149 | stem = fp[1]; 150 | suffix = fp[2]; 151 | re = new RegExp(mgr0); 152 | if (re.test(stem)) 153 | w = stem + step3list[suffix]; 154 | } 155 | 156 | // Step 4 157 | re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/; 158 | re2 = /^(.+?)(s|t)(ion)$/; 159 | if (re.test(w)) { 160 | var fp = re.exec(w); 161 | stem = fp[1]; 162 | re = new RegExp(mgr1); 163 | if (re.test(stem)) 164 | w = stem; 165 | } 166 | else if (re2.test(w)) { 167 | var fp = re2.exec(w); 168 | stem = fp[1] + fp[2]; 169 | re2 = new RegExp(mgr1); 170 | if (re2.test(stem)) 171 | w = stem; 172 | } 173 | 174 | // Step 5 175 | re = /^(.+?)e$/; 176 | if (re.test(w)) { 177 | var fp = re.exec(w); 178 | stem = fp[1]; 179 | re = new RegExp(mgr1); 180 | re2 = new RegExp(meq1); 181 | re3 = new RegExp("^" + C + v + "[^aeiouwxy]$"); 182 | if (re.test(stem) || (re2.test(stem) && !(re3.test(stem)))) 183 | w = stem; 184 | } 185 | re = /ll$/; 186 | re2 = new RegExp(mgr1); 187 | if (re.test(w) && re2.test(w)) { 188 | re = /.$/; 189 | w = w.replace(re,""); 190 | } 191 | 192 | // and turn initial Y back to y 193 | if (firstch == "y") 194 | w = firstch.toLowerCase() + w.substr(1); 195 | return w; 196 | } 197 | } 198 | 199 | 200 | 201 | 202 | 203 | var splitChars = (function() { 204 | var result = {}; 205 | var singles = [96, 180, 187, 191, 215, 247, 749, 885, 903, 907, 909, 930, 1014, 1648, 206 | 1748, 1809, 2416, 2473, 2481, 2526, 2601, 2609, 2612, 2615, 2653, 2702, 207 | 2706, 2729, 2737, 2740, 2857, 2865, 2868, 2910, 2928, 2948, 2961, 2971, 208 | 2973, 3085, 3089, 3113, 3124, 3213, 3217, 3241, 3252, 3295, 3341, 3345, 209 | 3369, 3506, 3516, 3633, 3715, 3721, 3736, 3744, 3748, 3750, 3756, 3761, 210 | 3781, 3912, 4239, 4347, 4681, 4695, 4697, 4745, 4785, 4799, 4801, 4823, 211 | 4881, 5760, 5901, 5997, 6313, 7405, 8024, 8026, 8028, 8030, 8117, 8125, 212 | 8133, 8181, 8468, 8485, 8487, 8489, 8494, 8527, 11311, 11359, 11687, 11695, 213 | 11703, 11711, 11719, 11727, 11735, 12448, 12539, 43010, 43014, 43019, 43587, 214 | 43696, 43713, 64286, 64297, 64311, 64317, 64319, 64322, 64325, 65141]; 215 | var i, j, start, end; 216 | for (i = 0; i < singles.length; i++) { 217 | result[singles[i]] = true; 218 | } 219 | var ranges = [[0, 47], [58, 64], [91, 94], [123, 169], [171, 177], [182, 184], [706, 709], 220 | [722, 735], [741, 747], [751, 879], [888, 889], [894, 901], [1154, 1161], 221 | [1318, 1328], [1367, 1368], [1370, 1376], [1416, 1487], [1515, 1519], [1523, 1568], 222 | [1611, 1631], [1642, 1645], [1750, 1764], [1767, 1773], [1789, 1790], [1792, 1807], 223 | [1840, 1868], [1958, 1968], [1970, 1983], [2027, 2035], [2038, 2041], [2043, 2047], 224 | [2070, 2073], [2075, 2083], [2085, 2087], [2089, 2307], [2362, 2364], [2366, 2383], 225 | [2385, 2391], [2402, 2405], [2419, 2424], [2432, 2436], [2445, 2446], [2449, 2450], 226 | [2483, 2485], [2490, 2492], [2494, 2509], [2511, 2523], [2530, 2533], [2546, 2547], 227 | [2554, 2564], [2571, 2574], [2577, 2578], [2618, 2648], [2655, 2661], [2672, 2673], 228 | [2677, 2692], [2746, 2748], [2750, 2767], [2769, 2783], [2786, 2789], [2800, 2820], 229 | [2829, 2830], [2833, 2834], [2874, 2876], [2878, 2907], [2914, 2917], [2930, 2946], 230 | [2955, 2957], [2966, 2968], [2976, 2978], [2981, 2983], [2987, 2989], [3002, 3023], 231 | [3025, 3045], [3059, 3076], [3130, 3132], [3134, 3159], [3162, 3167], [3170, 3173], 232 | [3184, 3191], [3199, 3204], [3258, 3260], [3262, 3293], [3298, 3301], [3312, 3332], 233 | [3386, 3388], [3390, 3423], [3426, 3429], [3446, 3449], [3456, 3460], [3479, 3481], 234 | [3518, 3519], [3527, 3584], [3636, 3647], [3655, 3663], [3674, 3712], [3717, 3718], 235 | [3723, 3724], [3726, 3731], [3752, 3753], [3764, 3772], [3774, 3775], [3783, 3791], 236 | [3802, 3803], [3806, 3839], [3841, 3871], [3892, 3903], [3949, 3975], [3980, 4095], 237 | [4139, 4158], [4170, 4175], [4182, 4185], [4190, 4192], [4194, 4196], [4199, 4205], 238 | [4209, 4212], [4226, 4237], [4250, 4255], [4294, 4303], [4349, 4351], [4686, 4687], 239 | [4702, 4703], [4750, 4751], [4790, 4791], [4806, 4807], [4886, 4887], [4955, 4968], 240 | [4989, 4991], [5008, 5023], [5109, 5120], [5741, 5742], [5787, 5791], [5867, 5869], 241 | [5873, 5887], [5906, 5919], [5938, 5951], [5970, 5983], [6001, 6015], [6068, 6102], 242 | [6104, 6107], [6109, 6111], [6122, 6127], [6138, 6159], [6170, 6175], [6264, 6271], 243 | [6315, 6319], [6390, 6399], [6429, 6469], [6510, 6511], [6517, 6527], [6572, 6592], 244 | [6600, 6607], [6619, 6655], [6679, 6687], [6741, 6783], [6794, 6799], [6810, 6822], 245 | [6824, 6916], [6964, 6980], [6988, 6991], [7002, 7042], [7073, 7085], [7098, 7167], 246 | [7204, 7231], [7242, 7244], [7294, 7400], [7410, 7423], [7616, 7679], [7958, 7959], 247 | [7966, 7967], [8006, 8007], [8014, 8015], [8062, 8063], [8127, 8129], [8141, 8143], 248 | [8148, 8149], [8156, 8159], [8173, 8177], [8189, 8303], [8306, 8307], [8314, 8318], 249 | [8330, 8335], [8341, 8449], [8451, 8454], [8456, 8457], [8470, 8472], [8478, 8483], 250 | [8506, 8507], [8512, 8516], [8522, 8525], [8586, 9311], [9372, 9449], [9472, 10101], 251 | [10132, 11263], [11493, 11498], [11503, 11516], [11518, 11519], [11558, 11567], 252 | [11622, 11630], [11632, 11647], [11671, 11679], [11743, 11822], [11824, 12292], 253 | [12296, 12320], [12330, 12336], [12342, 12343], [12349, 12352], [12439, 12444], 254 | [12544, 12548], [12590, 12592], [12687, 12689], [12694, 12703], [12728, 12783], 255 | [12800, 12831], [12842, 12880], [12896, 12927], [12938, 12976], [12992, 13311], 256 | [19894, 19967], [40908, 40959], [42125, 42191], [42238, 42239], [42509, 42511], 257 | [42540, 42559], [42592, 42593], [42607, 42622], [42648, 42655], [42736, 42774], 258 | [42784, 42785], [42889, 42890], [42893, 43002], [43043, 43055], [43062, 43071], 259 | [43124, 43137], [43188, 43215], [43226, 43249], [43256, 43258], [43260, 43263], 260 | [43302, 43311], [43335, 43359], [43389, 43395], [43443, 43470], [43482, 43519], 261 | [43561, 43583], [43596, 43599], [43610, 43615], [43639, 43641], [43643, 43647], 262 | [43698, 43700], [43703, 43704], [43710, 43711], [43715, 43738], [43742, 43967], 263 | [44003, 44015], [44026, 44031], [55204, 55215], [55239, 55242], [55292, 55295], 264 | [57344, 63743], [64046, 64047], [64110, 64111], [64218, 64255], [64263, 64274], 265 | [64280, 64284], [64434, 64466], [64830, 64847], [64912, 64913], [64968, 65007], 266 | [65020, 65135], [65277, 65295], [65306, 65312], [65339, 65344], [65371, 65381], 267 | [65471, 65473], [65480, 65481], [65488, 65489], [65496, 65497]]; 268 | for (i = 0; i < ranges.length; i++) { 269 | start = ranges[i][0]; 270 | end = ranges[i][1]; 271 | for (j = start; j <= end; j++) { 272 | result[j] = true; 273 | } 274 | } 275 | return result; 276 | })(); 277 | 278 | function splitQuery(query) { 279 | var result = []; 280 | var start = -1; 281 | for (var i = 0; i < query.length; i++) { 282 | if (splitChars[query.charCodeAt(i)]) { 283 | if (start !== -1) { 284 | result.push(query.slice(start, i)); 285 | start = -1; 286 | } 287 | } else if (start === -1) { 288 | start = i; 289 | } 290 | } 291 | if (start !== -1) { 292 | result.push(query.slice(start)); 293 | } 294 | return result; 295 | } 296 | 297 | 298 | -------------------------------------------------------------------------------- /docs/_build/html/_static/minus.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/html/_static/minus.png -------------------------------------------------------------------------------- /docs/_build/html/_static/plus.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rushad7/control-toolbox/5b10391bf5b2d7f00d2fb81938052fe8baef95a3/docs/_build/html/_static/plus.png -------------------------------------------------------------------------------- /docs/_build/html/_static/pygments.css: -------------------------------------------------------------------------------- 1 | .highlight .hll { background-color: #ffffcc } 2 | .highlight { background: #eeffcc; 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23 | }, 24 | */ 25 | 26 | // query matches the full name of an object 27 | objNameMatch: 11, 28 | // or matches in the last dotted part of the object name 29 | objPartialMatch: 6, 30 | // Additive scores depending on the priority of the object 31 | objPrio: {0: 15, // used to be importantResults 32 | 1: 5, // used to be objectResults 33 | 2: -5}, // used to be unimportantResults 34 | // Used when the priority is not in the mapping. 35 | objPrioDefault: 0, 36 | 37 | // query found in title 38 | title: 15, 39 | partialTitle: 7, 40 | // query found in terms 41 | term: 5, 42 | partialTerm: 2 43 | }; 44 | } 45 | 46 | if (!splitQuery) { 47 | function splitQuery(query) { 48 | return query.split(/\s+/); 49 | } 50 | } 51 | 52 | /** 53 | * Search Module 54 | */ 55 | var Search = { 56 | 57 | _index : null, 58 | _queued_query : null, 59 | _pulse_status : -1, 60 | 61 | htmlToText : function(htmlString) { 62 | var htmlElement = document.createElement('span'); 63 | htmlElement.innerHTML = htmlString; 64 | $(htmlElement).find('.headerlink').remove(); 65 | docContent = $(htmlElement).find('[role=main]')[0]; 66 | if(docContent === undefined) { 67 | console.warn("Content block not found. Sphinx search tries to obtain it " + 68 | "via '[role=main]'. Could you check your theme or template."); 69 | return ""; 70 | } 71 | return docContent.textContent || docContent.innerText; 72 | }, 73 | 74 | init : function() { 75 | var params = $.getQueryParameters(); 76 | if (params.q) { 77 | var query = params.q[0]; 78 | $('input[name="q"]')[0].value = query; 79 | this.performSearch(query); 80 | } 81 | }, 82 | 83 | loadIndex : function(url) { 84 | $.ajax({type: "GET", url: url, data: null, 85 | dataType: "script", cache: true, 86 | complete: function(jqxhr, textstatus) { 87 | if (textstatus != "success") { 88 | document.getElementById("searchindexloader").src = url; 89 | } 90 | }}); 91 | }, 92 | 93 | setIndex : function(index) { 94 | var q; 95 | this._index = index; 96 | if ((q = this._queued_query) !== null) { 97 | this._queued_query = null; 98 | Search.query(q); 99 | } 100 | }, 101 | 102 | hasIndex : function() { 103 | return this._index !== null; 104 | }, 105 | 106 | deferQuery : function(query) { 107 | this._queued_query = query; 108 | }, 109 | 110 | stopPulse : function() { 111 | this._pulse_status = 0; 112 | }, 113 | 114 | startPulse : function() { 115 | if (this._pulse_status >= 0) 116 | return; 117 | function pulse() { 118 | var i; 119 | Search._pulse_status = (Search._pulse_status + 1) % 4; 120 | var dotString = ''; 121 | for (i = 0; i < Search._pulse_status; i++) 122 | dotString += '.'; 123 | Search.dots.text(dotString); 124 | if (Search._pulse_status > -1) 125 | window.setTimeout(pulse, 500); 126 | } 127 | pulse(); 128 | }, 129 | 130 | /** 131 | * perform a search for something (or wait until index is loaded) 132 | */ 133 | performSearch : function(query) { 134 | // create the required interface elements 135 | this.out = $('#search-results'); 136 | this.title = $('

' + _('Searching') + '

').appendTo(this.out); 137 | this.dots = $('').appendTo(this.title); 138 | this.status = $('

 

').appendTo(this.out); 139 | this.output = $('