fix: "-> None" if function does not return a value

examples/basic_usage.py

@@ -5,7 +5,7 @@
 from pybotics.tool import Tool
 
 
-def main():
+def main() -> None:
     """
     Demonstrate pybotics usage.
 

tests/test_errors.py

@@ -5,7 +5,7 @@
 from pybotics.errors import PyboticsError
 
 
-def test_errors():
+def test_errors() -> None:
     """
     Test error.
 

tests/test_geometry.py

@@ -15,7 +15,7 @@
 
 
 @given(st.floats(allow_nan=False, allow_infinity=False))
-def test_wrap_2_pi(angle):
+def test_wrap_2_pi(angle) -> None:
     """
     Test angle wrapping.
 
@@ -45,7 +45,7 @@ def test_wrap_2_pi(angle):
 
 @given(angle=st.floats(allow_nan=False, allow_infinity=False))
 @settings(deadline=None)
-def test_rotation_matrix_xyz(angle, resources_path: Path):
+def test_rotation_matrix_xyz(angle, resources_path: Path) -> None:
     """Test."""
     # define functions to test
     rotation_functions = {
@@ -101,7 +101,7 @@ def test_rotation_matrix_xyz(angle, resources_path: Path):
         elements=st.floats(allow_nan=False, allow_infinity=False),
     )
 )
-def test_translation_matrix(xyz):
+def test_translation_matrix(xyz) -> None:
     """Test."""
     matrix = pybotics.geometry.translation_matrix(xyz)
 
@@ -127,7 +127,7 @@ def test_translation_matrix(xyz):
         pybotics.geometry.translation_matrix(np.zeros(10))
 
 
-def test_vector_2_matrix(vector_transforms: Sequence[dict]):
+def test_vector_2_matrix(vector_transforms: Sequence[dict]) -> None:
     """Test."""
     # test regular usage
     for d in vector_transforms:
@@ -142,7 +142,7 @@ def test_vector_2_matrix(vector_transforms: Sequence[dict]):
             pybotics.geometry.vector_2_matrix(d["vector"], convention="foobar")
 
 
-def test_matrix_2_vector(vector_transforms: Sequence[dict]):
+def test_matrix_2_vector(vector_transforms: Sequence[dict]) -> None:
     """Test."""
     for d in vector_transforms:
         for c in [
@@ -161,7 +161,7 @@ def test_matrix_2_vector(vector_transforms: Sequence[dict]):
             )
 
 
-def test_orientation():
+def test_orientation() -> None:
     """Test."""
     # ensure order and name match
     for e in list(OrientationConvention.__members__.values()):

tests/test_kinematic_chain.py

@@ -7,7 +7,7 @@
 from pybotics.link import MDHLink, RevoluteMDHLink
 
 
-def test_init():
+def test_init() -> None:
     """Test."""
     # test error
     with raises(PyboticsError):
@@ -17,42 +17,42 @@ def test_init():
     MDHKinematicChain([RevoluteMDHLink()])
 
 
-def test_num_parameters():
+def test_num_parameters() -> None:
     """Test."""
     link = RevoluteMDHLink()
     kc = MDHKinematicChain([link])
     assert kc.num_parameters == MDHLink._size
 
 
-def test_vector():
+def test_vector() -> None:
     """Test."""
     link = RevoluteMDHLink()
     kc = MDHKinematicChain([link])
     np.testing.assert_allclose(kc.vector, link.vector)
 
 
-def test_repr():
+def test_repr() -> None:
     """Test."""
     link = RevoluteMDHLink()
     kc = MDHKinematicChain([link])
     repr(kc)
 
 
-def test_to_json():
+def test_to_json() -> None:
     """Test."""
     link = RevoluteMDHLink()
     kc = MDHKinematicChain([link])
     kc.to_json()
 
 
-def test_links_setter():
+def test_links_setter() -> None:
     """Test."""
     link = RevoluteMDHLink()
     kc = MDHKinematicChain([link])
     kc.links = link
 
 
-def test_ndof():
+def test_ndof() -> None:
     """Test."""
     link = RevoluteMDHLink()
     kc = MDHKinematicChain([link])

tests/test_link.py

@@ -4,24 +4,24 @@
 from pybotics.link import PrismaticMDHLink, RevoluteMDHLink
 
 
-def test_len():
+def test_len() -> None:
     """Test."""
     assert len(RevoluteMDHLink()) == 4
 
 
-def test_displace():
+def test_displace() -> None:
     """Test."""
     link = PrismaticMDHLink()
     np.testing.assert_allclose(link.displace(), link.vector)
 
 
-def test_repr():
+def test_repr() -> None:
     """Test."""
     link = RevoluteMDHLink()
     repr(link)
 
 
-def test_json():
+def test_json() -> None:
     """Test."""
     link = RevoluteMDHLink()
     link.to_json()

tests/test_optimization.py

@@ -29,7 +29,7 @@
         elements=st.floats(allow_nan=False, allow_infinity=False),
     )
 )
-def test_compute_absolute_errors(q: np.ndarray):
+def test_compute_absolute_errors(q: np.ndarray) -> None:
     """Test."""
     robot = Robot.from_parameters(ur10())
     pose = robot.fk(q)
@@ -58,7 +58,7 @@ def test_compute_absolute_errors(q: np.ndarray):
         elements=st.floats(allow_nan=False, allow_infinity=False),
     ),
 )
-def test_compute_relative_errors(q_a: np.ndarray, q_b: np.ndarray):
+def test_compute_relative_errors(q_a: np.ndarray, q_b: np.ndarray) -> None:
     """Test."""
     robot = Robot.from_parameters(ur10())
 
@@ -82,7 +82,7 @@ def test_compute_relative_errors(q_a: np.ndarray, q_b: np.ndarray):
     np.testing.assert_allclose(actual_error, 0)  # type: ignore
 
 
-def test_optimization():
+def test_optimization() -> None:
     """Test."""
     # init robot model and error wrt nominal
     actual_robot = Robot.from_parameters(ur10())

tests/test_tool.py

@@ -5,7 +5,7 @@
 from pybotics.tool import Tool
 
 
-def test_tool():
+def test_tool() -> None:
     """Test."""
     tool = Tool()