Fix incompatibilities with NumPy 2.0 (JSBSim-Team#1107)

python/jsbsim.pyx.in

@@ -80,13 +80,13 @@ def _append_xml(name: str) -> str:
 
 
 cdef _convertToNumpyMat(const c_FGMatrix33& m):
- return numpy.mat([[m.Entry(1, 1), m.Entry(1, 2), m.Entry(1, 3)],
- [m.Entry(2, 1), m.Entry(2, 2), m.Entry(2, 3)],
- [m.Entry(3, 1), m.Entry(3, 2), m.Entry(3, 3)]])
+ return numpy.matrix([[m.Entry(1, 1), m.Entry(1, 2), m.Entry(1, 3)],
+  [m.Entry(2, 1), m.Entry(2, 2), m.Entry(2, 3)],
+  [m.Entry(3, 1), m.Entry(3, 2), m.Entry(3, 3)]])
 
 
 cdef _convertToNumpyVec(const c_FGColumnVector3& v):
- return numpy.mat([v.Entry(1), v.Entry(2), v.Entry(3)]).T
+ return numpy.matrix([v.Entry(1), v.Entry(2), v.Entry(3)]).T
 
 
 cdef class FGPropagate:

tests/TestAeroFuncFrame.py

@@ -34,7 +34,7 @@ def setUp(self):
  'x153.xml')
  self.tree, self.aircraft_name, b = CopyAircraftDef(self.script_path, self.sandbox)
 
- self.aero2wind = np.mat(np.identity(3));
+ self.aero2wind = np.matrix(np.identity(3));
  self.aero2wind[0,0] *= -1.0
  self.aero2wind[2,2] *= -1.0
  self.auxilliary = self.fdm.get_auxiliary()
@@ -47,18 +47,18 @@ def getTs2b(self):
  alpha = self.fdm['aero/alpha-rad']
  ca = math.cos(alpha)
  sa = math.sin(alpha)
- Ts2b = np.mat([[ca, 0., -sa],
- [0., 1., 0.],
- [sa, 0., ca]])
+ Ts2b = np.matrix([[ca, 0., -sa],
+  [0., 1., 0.],
+  [sa, 0., ca]])
  return Ts2b
 
  def checkForcesAndMoments(self, getForces, getMoment, aeroFunc):
  self.fdm.load_script(self.script_path)
  self.fdm.run_ic()
 
- rp = np.mat([self.fdm['metrics/aero-rp-x-in'],
- -self.fdm['metrics/aero-rp-y-in'],
- self.fdm['metrics/aero-rp-z-in']])
+ rp = np.matrix([self.fdm['metrics/aero-rp-x-in'],
+  -self.fdm['metrics/aero-rp-y-in'],
+  self.fdm['metrics/aero-rp-z-in']])
  result = {}
 
  while self.fdm.run():
@@ -73,9 +73,9 @@ def checkForcesAndMoments(self, getForces, getMoment, aeroFunc):
  Fs = self.aero2wind * (Tb2s * Fb)
 
  Mb_MRC = getMoment(result)
- cg = np.mat([self.fdm['inertia/cg-x-in'],
- -self.fdm['inertia/cg-y-in'],
- self.fdm['inertia/cg-z-in']])
+ cg = np.matrix([self.fdm['inertia/cg-x-in'],
+  -self.fdm['inertia/cg-y-in'],
+  self.fdm['inertia/cg-z-in']])
  arm_ft = (cg - rp)/12.0 # Convert from inches to ft
  Mb = Mb_MRC + np.cross(arm_ft, Fb.T)
  Tb2w = self.auxilliary.get_Tb2w()
@@ -134,13 +134,13 @@ def checkBodyFrame(self, frame):
 
  def getForces(result):
  Tb2w = self.auxilliary.get_Tb2w()
- Fb = np.mat([result['X'], result['Y'], result['Z']]).T
+ Fb = np.matrix([result['X'], result['Y'], result['Z']]).T
  Fw = Tb2w * Fb
  Fa = self.aero2wind * Fw
  return Fa, Fb
 
  def getMoment(result):
- return np.mat([result['ROLL'], result['PITCH'], result['YAW']])
+ return np.matrix([result['ROLL'], result['PITCH'], result['YAW']])
 
  self.checkAerodynamicsFrame(newAxisName, getForces, getMoment, '')
 
@@ -156,14 +156,14 @@ def testAxialFrame(self):
 
  def getForces(result):
  Tb2w = self.auxilliary.get_Tb2w()
- Fnative = np.mat([result['AXIAL'], result['SIDE'], result['NORMAL']]).T
+ Fnative = np.matrix([result['AXIAL'], result['SIDE'], result['NORMAL']]).T
  Fb = self.aero2wind * Fnative
  Fw = Tb2w * Fb
  Fa = self.aero2wind * Fw
  return Fa, Fb
 
  def getMoment(result):
- return np.mat([result['ROLL'], result['PITCH'], result['YAW']])
+ return np.matrix([result['ROLL'], result['PITCH'], result['YAW']])
 
  self.checkAerodynamicsFrame(newAxisName, getForces, getMoment, '')
 
@@ -173,14 +173,14 @@ def testWindFrame(self):
 
  def getForces(result):
  Tw2b = self.auxilliary.get_Tw2b()
- Fa = np.mat([result['X'], result['Y'], result['Z']]).T
+ Fa = np.matrix([result['X'], result['Y'], result['Z']]).T
  Fw = self.aero2wind * Fa
  Fb = Tw2b * Fw
  return Fa, Fb
 
  def getMoment(result):
  Tw2b = self.auxilliary.get_Tw2b()
- Mw = np.mat([result['ROLL'], result['PITCH'], result['YAW']]).T
+ Mw = np.matrix([result['ROLL'], result['PITCH'], result['YAW']]).T
  Mb = Tw2b*Mw
  return Mb.T
 
@@ -198,13 +198,13 @@ def testAeroFrame(self):
 
  def getForces(result):
  Tw2b = self.auxilliary.get_Tw2b()
- Fa = np.mat([result['DRAG'], result['SIDE'], result['LIFT']]).T
+ Fa = np.matrix([result['DRAG'], result['SIDE'], result['LIFT']]).T
  Fw = self.aero2wind * Fa
  Fb = Tw2b * Fw
  return Fa, Fb
 
  def getMoment(result):
- return np.mat([result['ROLL'], result['PITCH'], result['YAW']])
+ return np.matrix([result['ROLL'], result['PITCH'], result['YAW']])
 
  self.checkForcesAndMoments(getForces, getMoment, aeroFunc)
 
@@ -215,15 +215,15 @@ def testStabilityFrame(self):
  def getForces(result):
  Tb2w = self.auxilliary.get_Tb2w()
  Ts2b = self.getTs2b()
- Fs = np.mat([result['X'], result['Y'], result['Z']]).T
+ Fs = np.matrix([result['X'], result['Y'], result['Z']]).T
  Fb = Ts2b * (self.aero2wind * Fs)
  Fw = Tb2w * Fb
  Fa = self.aero2wind * Fw
  return Fa, Fb
 
  def getMoment(result):
  Ts2b = self.getTs2b()
- Ms = np.mat([result['ROLL'], result['PITCH'], result['YAW']]).T
+ Ms = np.matrix([result['ROLL'], result['PITCH'], result['YAW']]).T
  Mb = Ts2b*Ms
  return Mb.T
 

tests/TestExternalReactions.py

@@ -64,7 +64,7 @@ def test_wind_frame(self):
  while fdm.run():
  Tw2b = fdm.get_auxiliary().get_Tw2b()
  mag = fdm['aero/qbar-psf'] * fdm['fcs/parachute_reef_pos_norm']*parachute_area
- f = Tw2b * np.mat([-1.0, 0.0, 0.0]).T * mag
+ f = Tw2b * np.matrix([-1.0, 0.0, 0.0]).T * mag
  self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0, 0])
  self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1, 0])
  self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2, 0])
@@ -103,7 +103,7 @@ def test_body_frame(self):
  dz = 0.01
  fhook = np.array([dx, 0.0, dz])
  fhook /= np.linalg.norm(fhook)
- 
+
  self.assertAlmostEqual(fdm['external_reactions/hook/x'], fhook[0])
  self.assertAlmostEqual(fdm['external_reactions/hook/y'], fhook[1])
  self.assertAlmostEqual(fdm['external_reactions/hook/z'], fhook[2])
@@ -241,12 +241,12 @@ def test_moment(self):
  while fdm.run():
  Tw2b = fdm.get_auxiliary().get_Tw2b()
  mag = fdm['aero/qbar-psf'] * fdm['fcs/parachute_reef_pos_norm']*parachute_area
- f = Tw2b * np.mat([-1.0, 0.0, 0.0]).T * mag
+ f = Tw2b * np.matrix([-1.0, 0.0, 0.0]).T * mag
  self.assertAlmostEqual(fdm['forces/fbx-external-lbs'], f[0, 0])
  self.assertAlmostEqual(fdm['forces/fby-external-lbs'], f[1, 0])
  self.assertAlmostEqual(fdm['forces/fbz-external-lbs'], f[2, 0])
 
- m = -3.5 * Tw2b * np.mat(mDir).T
+ m = -3.5 * Tw2b * np.matrix(mDir).T
  fm = np.cross(self.getLeverArm(fdm,'parachute'),
  np.array([f[0,0], f[1,0], f[2, 0]]))
  self.assertAlmostEqual(fdm['moments/l-external-lbsft'], m[0, 0] + fm[0])