adding # pragma: no cover

Author: AtsushiSakai

ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py

@@ -22,7 +22,7 @@ def __init__(self, link_lengths, joint_angles, goal, show_animation):
         self.lim = sum(link_lengths)
         self.goal = np.array(goal).T
 
-        if show_animation:
+        if show_animation:  # pragma: no cover
             self.fig = plt.figure()
             self.fig.canvas.mpl_connect('button_press_event', self.click)
 
@@ -46,7 +46,7 @@ def update_points(self):
                 np.sin(np.sum(self.joint_angles[:i]))
 
         self.end_effector = np.array(self.points[self.n_links]).T
-        if self.show_animation:
+        if self.show_animation:  # pragma: no cover
             self.plot()
 
     def plot(self):  # pragma: no cover

ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py

@@ -21,7 +21,7 @@
 show_animation = True
 
 
-def main():
+def main():  # pragma: no cover
     """
     Creates an arm using the NLinkArm class and uses its inverse kinematics
     to move it to the desired position.

ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py

@@ -39,8 +39,8 @@ def two_joint_arm(GOAL_TH=0.0, theta1=0.0, theta2=0.0):
         try:
             theta2_goal = np.arccos(
                 (x**2 + y**2 - l1**2 - l2**2) / (2 * l1 * l2))
-            theta1_goal = np.math.atan2(y, x) - np.math.atan2(l2
-                                                              * np.sin(theta2_goal), (l1 + l2 * np.cos(theta2_goal)))
+            theta1_goal = np.math.atan2(y, x) - np.math.atan2(l2 *
+                                                              np.sin(theta2_goal), (l1 + l2 * np.cos(theta2_goal)))
 
             if theta1_goal < 0:
                 theta2_goal = -theta2_goal
@@ -94,7 +94,7 @@ def ang_diff(theta1, theta2):
     return (theta1 - theta2 + np.pi) % (2 * np.pi) - np.pi
 
 
-def click(event):
+def click(event):  # pragma: no cover
     global x, y
     x = event.xdata
     y = event.ydata
@@ -111,7 +111,7 @@ def animation():
             GOAL_TH=0.01, theta1=theta1, theta2=theta2)
 
 
-def main():
+def main():  # pragma: no cover
     fig = plt.figure()
     fig.canvas.mpl_connect("button_press_event", click)
     two_joint_arm()

PathPlanning/BezierPath/bezier_path.py

@@ -163,7 +163,7 @@ def main():
     assert path.T[0][-1] == end_x, "path is invalid"
     assert path.T[1][-1] == end_y, "path is invalid"
 
-    if show_animation:
+    if show_animation:  # pragma: no cover
         fig, ax = plt.subplots()
         ax.plot(path.T[0], path.T[1], label="Bezier Path")
         ax.plot(control_points.T[0], control_points.T[1],
@@ -198,10 +198,10 @@ def main2():
         assert path.T[0][-1] == end_x, "path is invalid"
         assert path.T[1][-1] == end_y, "path is invalid"
 
-        if show_animation:
+        if show_animation:  # pragma: no cover
             plt.plot(path.T[0], path.T[1], label="Offset=" + str(offset))
 
-    if show_animation:
+    if show_animation:  # pragma: no cover
         plot_arrow(start_x, start_y, start_yaw)
         plot_arrow(end_x, end_y, end_yaw)
         plt.legend()

PathPlanning/LQRPlanner/LQRplanner.py

@@ -47,7 +47,7 @@ def LQRplanning(sx, sy, gx, gy):
             break
 
         # animation
-        if show_animation:
+        if show_animation:  # pragma: no cover
             plt.plot(sx, sy, "or")
             plt.plot(gx, gy, "ob")
             plt.plot(rx, ry, "-r")
@@ -129,31 +129,13 @@ def main():
 
         rx, ry = LQRplanning(sx, sy, gx, gy)
 
-        if show_animation:
+        if show_animation:  # pragma: no cover
             plt.plot(sx, sy, "or")
             plt.plot(gx, gy, "ob")
             plt.plot(rx, ry, "-r")
             plt.axis("equal")
             plt.pause(1.0)
 
 
-def main1():
-    print(__file__ + " start!!")
-
-    sx = 6.0
-    sy = 6.0
-    gx = 10.0
-    gy = 10.0
-
-    rx, ry = LQRplanning(sx, sy, gx, gy)
-
-    if show_animation:
-        plt.plot(sx, sy, "or")
-        plt.plot(gx, gy, "ob")
-        plt.plot(rx, ry, "-r")
-        plt.axis("equal")
-        plt.show()
-
-
 if __name__ == '__main__':
     main()

PathPlanning/RRTDubins/rrt_dubins.py

@@ -167,7 +167,7 @@ def gen_final_course(self, goalind):
     def calc_dist_to_goal(self, x, y):
         return np.linalg.norm([x - self.end.x, y - self.end.y])
 
-    def DrawGraph(self, rnd=None):
+    def DrawGraph(self, rnd=None):  # pragma: no cover
         plt.clf()
         if rnd is not None:
             plt.plot(rnd[0], rnd[1], "^k")
@@ -244,7 +244,7 @@ def main():
     path = rrt.Planning(animation=show_animation)
 
     # Draw final path
-    if show_animation:
+    if show_animation:  # pragma: no cover
         rrt.DrawGraph()
         plt.plot([x for (x, y) in path], [y for (x, y) in path], '-r')
         plt.grid(True)

PathPlanning/RRTStarDubins/rrt_star_dubins.py

@@ -202,7 +202,7 @@ def rewire(self, newNode, nearinds):
                 #  print("rewire")
                 self.nodeList[i] = tNode
 
-    def DrawGraph(self, rnd=None):
+    def DrawGraph(self, rnd=None):  # pragma: no cover
         """
         Draw Graph
         """
@@ -288,7 +288,7 @@ def main():
     path = rrt.Planning(animation=show_animation)
 
     # Draw final path
-    if show_animation:
+    if show_animation:  # pragma: no cover
         rrt.DrawGraph()
         plt.plot([x for (x, y) in path], [y for (x, y) in path], '-r')
         plt.grid(True)