code clean up for lgtm

Author: AtsushiSakai

ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py

@@ -210,7 +210,7 @@ class NLinkArm(object):
 
     def __init__(self, link_lengths, joint_angles):
         self.n_links = len(link_lengths)
-        if self.n_links is not len(joint_angles):
+        if self.n_links != len(joint_angles):
             raise ValueError()
 
         self.link_lengths = np.array(link_lengths)

ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py

@@ -12,7 +12,7 @@ class NLinkArm(object):
     def __init__(self, link_lengths, joint_angles, goal, show_animation):
         self.show_animation = show_animation
         self.n_links = len(link_lengths)
-        if self.n_links is not len(joint_angles):
+        if self.n_links != len(joint_angles):
             raise ValueError()
 
         self.link_lengths = np.array(link_lengths)

ArmNavigation/n_joint_arm_to_point_control/n_joint_arm_to_point_control.py

@@ -51,7 +51,7 @@ def main():
                 elif solution_found:
                     state = MOVING_TO_GOAL
         elif state is MOVING_TO_GOAL:
-            if distance > 0.1 and (old_goal is goal_pos):
+            if distance > 0.1 and (old_goal == goal_pos).all():
                 joint_angles = joint_angles + Kp * \
                     ang_diff(joint_goal_angles, joint_angles) * dt
             else:
@@ -111,7 +111,7 @@ def animation():
                 elif solution_found:
                     state = MOVING_TO_GOAL
         elif state is MOVING_TO_GOAL:
-            if distance > 0.1 and (old_goal is goal_pos):
+            if distance > 0.1 and (old_goal == goal_pos).all():
                 joint_angles = joint_angles + Kp * \
                     ang_diff(joint_goal_angles, joint_angles) * dt
             else:

PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py

@@ -474,7 +474,7 @@ def add_vertex_to_edge_queue(self, vid, currCoord):
             for v, edges in self.tree.vertices.items():
                 if v != vid and (v, vid) not in self.edge_queue and (vid, v) not in self.edge_queue:
                     vcoord = self.tree.nodeIdToRealWorldCoord(v)
-                    if(np.linalg.norm(vcoord - currCoord, 2) <= self.r and v != vid):
+                    if(np.linalg.norm(vcoord - currCoord, 2) <= self.r):
                         neigbors.append((vid, vcoord))
 
             for neighbor in neigbors:

PathPlanning/ClosedLoopRRTStar/closed_loop_rrt_star_car.py

@@ -427,34 +427,33 @@ def main():
     if not flag:
         print("cannot find feasible path")
 
-    #  flg, ax = plt.subplots(1)
     # Draw final path
     if show_animation:
         rrt.DrawGraph()
         plt.plot(x, y, '-r')
         plt.grid(True)
         plt.pause(0.001)
 
-        flg, ax = plt.subplots(1)
+        plt.subplots(1)
         plt.plot(t, [np.rad2deg(iyaw) for iyaw in yaw[:-1]], '-r')
         plt.xlabel("time[s]")
         plt.ylabel("Yaw[deg]")
         plt.grid(True)
 
-        flg, ax = plt.subplots(1)
+        plt.subplots(1)
         plt.plot(t, [iv * 3.6 for iv in v], '-r')
 
         plt.xlabel("time[s]")
         plt.ylabel("velocity[km/h]")
         plt.grid(True)
 
-        flg, ax = plt.subplots(1)
+        plt.subplots(1)
         plt.plot(t, a, '-r')
         plt.xlabel("time[s]")
         plt.ylabel("accel[m/ss]")
         plt.grid(True)
 
-        flg, ax = plt.subplots(1)
+        plt.subplots(1)
         plt.plot(t, [np.rad2deg(td) for td in d], '-r')
         plt.xlabel("time[s]")
         plt.ylabel("Steering angle[deg]")

PathPlanning/ClosedLoopRRTStar/pure_pursuit.py

@@ -1,6 +1,4 @@
-#! /usr/bin/python
-# -*- coding: utf-8 -*-
-u"""
+"""
 
 Path tracking simulation with pure pursuit steering control and PID speed control.
 
@@ -251,7 +249,7 @@ def main():
 
     while T >= time and lastIndex > target_ind:
         ai = PIDControl(target_speed, state.v)
-        di, target_ind = pure_pursuit_control(state, cx, cy, target_ind)
+        di, target_ind, _ = pure_pursuit_control(state, cx, cy, target_ind)
         state = unicycle_model.update(state, ai, di)
 
         time = time + unicycle_model.dt

PathPlanning/ClosedLoopRRTStar/unicycle_model.py

@@ -7,6 +7,7 @@
 """
 
 import math
+import numpy as np
 
 dt = 0.05  # [s]
 L = 0.9  # [m]
@@ -66,12 +67,12 @@ def pi_2_pi(angle):
         yaw.append(state.yaw)
         v.append(state.v)
 
-    flg, ax = plt.subplots(1)
+    plt.subplots(1)
     plt.plot(x, y)
     plt.axis("equal")
     plt.grid(True)
 
-    flg, ax = plt.subplots(1)
+    plt.subplots(1)
     plt.plot(v)
     plt.grid(True)
 

PathPlanning/CubicSpline/cubic_spline_planner.py

@@ -209,7 +209,7 @@ def main():
         ryaw.append(sp.calc_yaw(i_s))
         rk.append(sp.calc_curvature(i_s))
 
-    flg, ax = plt.subplots(1)
+    plt.subplots(1)
     plt.plot(x, y, "xb", label="input")
     plt.plot(rx, ry, "-r", label="spline")
     plt.grid(True)
@@ -218,14 +218,14 @@ def main():
     plt.ylabel("y[m]")
     plt.legend()
 
-    flg, ax = plt.subplots(1)
+    plt.subplots(1)
     plt.plot(s, [np.rad2deg(iyaw) for iyaw in ryaw], "-r", label="yaw")
     plt.grid(True)
     plt.legend()
     plt.xlabel("line length[m]")
     plt.ylabel("yaw angle[deg]")
 
-    flg, ax = plt.subplots(1)
+    plt.subplots(1)
     plt.plot(s, rk, "-r", label="curvature")
     plt.grid(True)
     plt.legend()

PathPlanning/DubinsPath/dubins_path_planning.py

@@ -235,18 +235,18 @@ def generate_course(length, mode, c):
             elif m is "R":  # right turn
                 pyaw.append(pyaw[-1] - d)
             pd += d
-        else:
-            d = l - pd
-            px.append(px[-1] + d / c * math.cos(pyaw[-1]))
-            py.append(py[-1] + d / c * math.sin(pyaw[-1]))
 
-            if m is "L":  # left turn
-                pyaw.append(pyaw[-1] + d)
-            elif m is "S":  # Straight
-                pyaw.append(pyaw[-1])
-            elif m is "R":  # right turn
-                pyaw.append(pyaw[-1] - d)
-            pd += d
+        d = l - pd
+        px.append(px[-1] + d / c * math.cos(pyaw[-1]))
+        py.append(py[-1] + d / c * math.sin(pyaw[-1]))
+
+        if m is "L":  # left turn
+            pyaw.append(pyaw[-1] + d)
+        elif m is "S":  # Straight
+            pyaw.append(pyaw[-1])
+        elif m is "R":  # right turn
+            pyaw.append(pyaw[-1] - d)
+        pd += d
 
     return px, py, pyaw
 

PathPlanning/FrenetOptimalTrajectory/cubic_spline_planner.py

@@ -10,7 +10,7 @@
 
 
 class Spline:
-    u"""
+    """
     Cubic Spline class
     """
 
@@ -209,7 +209,7 @@ def main():
         ryaw.append(sp.calc_yaw(i_s))
         rk.append(sp.calc_curvature(i_s))
 
-    flg, ax = plt.subplots(1)
+    plt.subplots(1)
     plt.plot(x, y, "xb", label="input")
     plt.plot(rx, ry, "-r", label="spline")
     plt.grid(True)
@@ -218,14 +218,14 @@ def main():
     plt.ylabel("y[m]")
     plt.legend()
 
-    flg, ax = plt.subplots(1)
+    plt.subplots(1)
     plt.plot(s, [np.rad2deg(iyaw) for iyaw in ryaw], "-r", label="yaw")
     plt.grid(True)
     plt.legend()
     plt.xlabel("line length[m]")
     plt.ylabel("yaw angle[deg]")
 
-    flg, ax = plt.subplots(1)
+    plt.subplots(1)
     plt.plot(s, rk, "-r", label="curvature")
     plt.grid(True)
     plt.legend()