Skip to content

Commit

Permalink
fix: removed unused type: ignores
Browse files Browse the repository at this point in the history
  • Loading branch information
@engnadeau
engnadeau committed Sep 21, 2022
1 parent 598567c commit c85c133
Showing 1 changed file with 26 additions and 26 deletions.
52 changes: 26 additions & 26 deletions tests/test_geometry.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ def vector_transforms() -> List[Dict[str, Union[npt.NDArray[np.float64], str]]]:
data_path = (
Path(__file__).parent / "resources"
).resolve() / "vector-transforms.csv"
data = np.genfromtxt(fname=data_path, delimiter=",", dtype=str) # type: ignore
data = np.genfromtxt(fname=data_path, delimiter=",", dtype=str)

result = [
{
Expand Down Expand Up @@ -62,12 +62,12 @@ def test_wrap_2_pi(angle: float) -> None:
actual_angles = np.array(list(map(pybotics.geometry.wrap_2_pi, test_angles)))
assert len(test_angles) == len(expected_angles)
assert len(actual_angles) == len(expected_angles)
np.testing.assert_allclose(actual_angles, expected_angles) # type: ignore
np.testing.assert_allclose(actual_angles, expected_angles)

# test single elements
for i, _ in enumerate(expected_angles):
actual_angle = pybotics.geometry.wrap_2_pi(test_angles[i])
np.testing.assert_allclose([actual_angle], expected_angles[i]) # type: ignore
np.testing.assert_allclose([actual_angle], expected_angles[i])


@given(
Expand All @@ -86,24 +86,24 @@ def test_rotation_matrix_x(angle: float) -> None:

# check orthogonality
for row in actual_matrix:
np.testing.assert_allclose(np.linalg.norm(row), 1) # type: ignore
np.testing.assert_allclose(np.linalg.norm(row), 1)

for column in actual_matrix.T:
np.testing.assert_allclose(np.linalg.norm(column), 1) # type: ignore
np.testing.assert_allclose(np.linalg.norm(column), 1)

# check no translation
np.testing.assert_allclose(actual_matrix[:-1, -1], 0) # type: ignore
np.testing.assert_allclose(actual_matrix[:-1, -1], 0)

# check homogeneous matrix
np.testing.assert_allclose(actual_matrix[-1, :-1], 0) # type: ignore
np.testing.assert_allclose(actual_matrix[-1, :-1], 0)

# check unit vector location
np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1) # type: ignore
np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1)

# check 3x3 rotation component
actual_rotation = actual_matrix[:3, :3]
expected_rotation = Rotation.from_rotvec(angle * axis_vector).as_matrix()
np.testing.assert_allclose( # type: ignore
np.testing.assert_allclose(
actual=actual_rotation, desired=expected_rotation, rtol=1e-05, atol=1e-08
)

Expand All @@ -124,24 +124,24 @@ def test_rotation_matrix_y(angle: float) -> None:

# check orthogonality
for row in actual_matrix:
np.testing.assert_allclose(np.linalg.norm(row), 1) # type: ignore
np.testing.assert_allclose(np.linalg.norm(row), 1)

for column in actual_matrix.T:
np.testing.assert_allclose(np.linalg.norm(column), 1) # type: ignore
np.testing.assert_allclose(np.linalg.norm(column), 1)

# check no translation
np.testing.assert_allclose(actual_matrix[:-1, -1], 0) # type: ignore
np.testing.assert_allclose(actual_matrix[:-1, -1], 0)

# check homogeneous matrix
np.testing.assert_allclose(actual_matrix[-1, :-1], 0) # type: ignore
np.testing.assert_allclose(actual_matrix[-1, :-1], 0)

# check unit vector location
np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1) # type: ignore
np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1)

# check 3x3 rotation component
actual_rotation = actual_matrix[:3, :3]
expected_rotation = Rotation.from_rotvec(angle * axis_vector).as_matrix()
np.testing.assert_allclose( # type: ignore
np.testing.assert_allclose(
actual=actual_rotation, desired=expected_rotation, rtol=1e-05, atol=1e-08
)

Expand All @@ -162,24 +162,24 @@ def test_rotation_matrix_z(angle: float) -> None:

# check orthogonality
for row in actual_matrix:
np.testing.assert_allclose(np.linalg.norm(row), 1) # type: ignore
np.testing.assert_allclose(np.linalg.norm(row), 1)

for column in actual_matrix.T:
np.testing.assert_allclose(np.linalg.norm(column), 1) # type: ignore
np.testing.assert_allclose(np.linalg.norm(column), 1)

# check no translation
np.testing.assert_allclose(actual_matrix[:-1, -1], 0) # type: ignore
np.testing.assert_allclose(actual_matrix[:-1, -1], 0)

# check homogeneous matrix
np.testing.assert_allclose(actual_matrix[-1, :-1], 0) # type: ignore
np.testing.assert_allclose(actual_matrix[-1, :-1], 0)

# check unit vector location
np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1) # type: ignore
np.testing.assert_allclose(actual_matrix[axis_idx, axis_idx], 1)

# check 3x3 rotation component
actual_rotation = actual_matrix[:3, :3]
expected_rotation = Rotation.from_rotvec(angle * axis_vector).as_matrix()
np.testing.assert_allclose( # type: ignore
np.testing.assert_allclose(
actual=actual_rotation, desired=expected_rotation, rtol=1e-05, atol=1e-08
)

Expand All @@ -198,19 +198,19 @@ def test_translation_matrix(xyz: npt.NDArray[np.float64]) -> None:
# check orthogonality
for row in matrix[:-1, :-1]:
# noinspection PyTypeChecker
np.testing.assert_allclose(np.linalg.norm(row), 1) # type: ignore
np.testing.assert_allclose(np.linalg.norm(row), 1)

for column in matrix[:, :-1].T:
# noinspection PyTypeChecker
np.testing.assert_allclose(np.linalg.norm(column), 1) # type: ignore
np.testing.assert_allclose(np.linalg.norm(column), 1)

# check translation
# noinspection PyTypeChecker
np.testing.assert_allclose(matrix[:-1, -1], xyz) # type: ignore
np.testing.assert_allclose(matrix[:-1, -1], xyz)

# check homogeneous matrix
# noinspection PyTypeChecker
np.testing.assert_allclose(matrix[-1, :-1], 0) # type: ignore
np.testing.assert_allclose(matrix[-1, :-1], 0)

# test exception
with raises(PyboticsError):
Expand Down Expand Up @@ -252,7 +252,7 @@ def test_matrix_2_vector(
# TODO: implement other conversions
# don't fail for NotImplementedError
continue
np.testing.assert_allclose( # type: ignore
np.testing.assert_allclose(
actual=actual_vector, desired=d["vector"], atol=1e-6
)

Expand Down

0 comments on commit c85c133

Please sign in to comment.