code clean up

Author: AtsushiSakai

Bipedal/bipedal_planner/bipedal_planner.py

@@ -52,10 +52,10 @@ def walk(self, T_sup=0.8, z_c=0.8, a=10, b=1, plot=False):
         self.ref_p = []   # reference footstep positions
         self.act_p = []   # actual footstep positions
 
-        px, py = 0., 0.   # reference footstep position
+        px, py = 0.0, 0.0   # reference footstep position
         px_star, py_star = px, py   # modified footstep position
-        xi, xi_dot, yi, yi_dot = 0., 0., 0.01, 0.  # TODO yi should be set as +epsilon, set xi, yi as COM
-        time = 0.
+        xi, xi_dot, yi, yi_dot = 0.0, 0.0, 0.01, 0.0
+        time = 0.0
         n = 0
         self.ref_p.append([px, py, 0])
         self.act_p.append([px, py, 0])

Mapping/kmeans_clustering/kmeans_clustering.py

@@ -124,7 +124,7 @@ def calc_association(cx, cy, clusters):
 
     inds = []
 
-    for ic in range(len(cx)):
+    for ic, _ in enumerate(cx):
         tcx = cx[ic]
         tcy = cy[ic]
 

PathPlanning/AStar/a_star.py

@@ -85,7 +85,7 @@ def a_star_planning(sx, sy, gx, gy, ox, oy, reso, rr):
         closedset[c_id] = current
 
         # expand search grid based on motion model
-        for i in range(len(motion)):
+        for i, _ in enumerate(motion):
             node = Node(current.x + motion[i][0],
                         current.y + motion[i][1],
                         current.cost + motion[i][2], c_id)

PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py

@@ -5,18 +5,21 @@
 
 """
 
-import sys
-sys.path.append("../ReedsSheppPath/")
-
 import random
 import math
 import copy
 import numpy as np
 import pure_pursuit
 import matplotlib.pyplot as plt
 
-import reeds_shepp_path_planning
-import unicycle_model
+import sys
+sys.path.append("../ReedsSheppPath/")
+
+try:
+    import reeds_shepp_path_planning
+    import unicycle_model
+except:
+    raise
 
 show_animation = True
 
@@ -130,8 +133,8 @@ def search_best_feasible_path(self, path_indexs):
             fy.append(self.end.y)
             fyaw.append(self.end.yaw)
             return True, fx, fy, fyaw, fv, ft, fa, fd
-        else:
-            return False, None, None, None, None, None, None, None
+
+        return False, None, None, None, None, None, None, None
 
     def calc_tracking_path(self, path):
         path = np.array(path[::-1])
@@ -194,7 +197,7 @@ def check_tracking_path_is_feasible(self, path):
         return find_goal, x, y, yaw, v, t, a, d
 
     def choose_parent(self, newNode, nearinds):
-        if len(nearinds) == 0:
+        if not nearinds:
             return newNode
 
         dlist = []

PathPlanning/Dijkstra/dijkstra.py

@@ -67,7 +67,7 @@ def dijkstra_planning(sx, sy, gx, gy, ox, oy, reso, rr):
         closedset[c_id] = current
 
         # expand search grid based on motion model
-        for i in range(len(motion)):
+        for i, _ in enumerate(motion):
             node = Node(current.x + motion[i][0], current.y + motion[i][1],
                         current.cost + motion[i][2], c_id)
             n_id = calc_index(node, xw, minx, miny)

PathPlanning/Eta3SplinePath/eta3_spline_path.py

@@ -185,8 +185,8 @@ def calc_deriv(self, u, order=1):
         assert(order > 0 and order <= 2)
         if order == 1:
             return self.coeffs[:, 1:].dot(np.array([1, 2. * u, 3. * u**2, 4. * u**3, 5. * u**4, 6. * u**5, 7. * u**6]))
-        else:
-            return self.coeffs[:, 2:].dot(np.array([2, 6. * u, 12. * u**2, 20. * u**3, 30. * u**4, 42. * u**5]))
+
+        return self.coeffs[:, 2:].dot(np.array([2, 6. * u, 12. * u**2, 20. * u**3, 30. * u**4, 42. * u**5]))
 
 
 def test1():

PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py

@@ -257,7 +257,7 @@ def check_collision(fp, ob):
 def check_paths(fplist, ob):
 
     okind = []
-    for i in range(len(fplist)):
+    for i, _ in enumerate(fplist):
         if any([v > MAX_SPEED for v in fplist[i].s_d]):  # Max speed check
             continue
         elif any([abs(a) > MAX_ACCEL for a in fplist[i].s_dd]):  # Max accel check

PathPlanning/HybridAStar/hybrid_a_star.py

@@ -18,7 +18,7 @@ def __init__(self, x=0.0, y=0.0, yaw=0.0, v=0.0):
 
 
 def pi_2_pi(angle):
-    return (angle + math.pi) % (2*math.pi) - math.pi
+    return (angle + math.pi) % (2 * math.pi) - math.pi
 
 
 def update(state, v, delta, dt, L):
@@ -74,5 +74,6 @@ def generate_last_state(s, km, kf, k0):
 
     state = State()
 
-    [update(state, v, ikp, dt, L) for ikp in kp]
+    _ = [update(state, v, ikp, dt, L) for ikp in kp]
+
     return state.x, state.y, state.yaw

PathPlanning/ModelPredictiveTrajectoryGenerator/motion_model.py

@@ -146,17 +146,17 @@ def quinic_polynomials_planner(sx, sy, syaw, sv, sa, gx, gy, gyaw, gv, ga, max_a
             break
 
     if show_animation:
-        for i in range(len(rx)):
+        for i, _ in enumerate(rx):
             plt.cla()
             plt.grid(True)
             plt.axis("equal")
             plot_arrow(sx, sy, syaw)
             plot_arrow(gx, gy, gyaw)
             plot_arrow(rx[i], ry[i], ryaw[i])
-            plt.title("Time[s]:" + str(time[i])[0:4] +
-                      " v[m/s]:" + str(rv[i])[0:4] +
-                      " a[m/ss]:" + str(ra[i])[0:4] +
-                      " jerk[m/sss]:" + str(rj[i])[0:4],
+            plt.title("Time[s]:" + str(time[i])[0:4]
+                      + " v[m/s]:" + str(rv[i])[0:4]
+                      + " a[m/ss]:" + str(ra[i])[0:4]
+                      + " jerk[m/sss]:" + str(rj[i])[0:4],
                       )
             plt.pause(0.001)