import numpy as np
from dtk.bicycle import benchmark_matrices, benchmark_state_space
from dtk.control import bode

speed = 4.6  # m/s
A, B = benchmark_state_space(*benchmark_matrices(), speed, 9.81)
C, D = np.array([1.0, 0.0, 0.0, 0.0]), np.zeros(1)

freqs = np.logspace(0.0, 3.0, num=301)

bode((A, B[:, 0].reshape(4, 1), C, D), freqs)