[format] Makes yapf happy.

Author: olivier-stasse

src/dynamic_graph/sot/core/feature_position_relative.py

@@ -7,7 +7,8 @@
 from dynamic_graph import plug
 from dynamic_graph.entity import Entity
 from dynamic_graph.signal_base import SignalBase
-from dynamic_graph.sot.core.feature_point6d_relative import FeaturePoint6dRelative
+from dynamic_graph.sot.core.feature_point6d_relative \
+    import FeaturePoint6dRelative
 
 # Identity matrix of order 4
 I4 = reduce(lambda m, i: m + (i * (0., ) + (1., ) + (3 - i) * (0., ), ),

src/dynamic_graph/sot/core/math_small_entities.py

@@ -10,10 +10,11 @@
     Compose_R_and_T, ConvolutionTemporal, HomoToMatrix, HomoToRotation,
     HomoToTwist, Inverse_of_matrix, Inverse_of_matrixHomo,
     Inverse_of_matrixrotation, Inverse_of_matrixtwist, Inverse_of_unitquat,
-    MatrixDiagonal, MatrixHomoToPose, MatrixHomoToPoseQuaternion, PoseQuatToMatrixHomo,
-    MatrixHomoToPoseRollPitchYaw, MatrixHomoToPoseUTheta, MatrixToHomo,
-    MatrixToQuaternion, MatrixToRPY, MatrixToUTheta, MatrixHomoToSE3Vector, SE3VectorToMatrixHomo,
-    MatrixTranspose, Multiply_double_vector, Multiply_matrix_vector,
+    MatrixDiagonal, MatrixHomoToPose, MatrixHomoToPoseQuaternion,
+    PoseQuatToMatrixHomo, MatrixHomoToPoseRollPitchYaw, MatrixHomoToPoseUTheta,
+    MatrixToHomo, MatrixToQuaternion, MatrixToRPY, MatrixToUTheta,
+    MatrixHomoToSE3Vector, SE3VectorToMatrixHomo, MatrixTranspose,
+    Multiply_double_vector, Multiply_matrix_vector,
     Multiply_matrixTwist_vector, Multiply_matrixHomo_vector,
     Multiply_of_double, Multiply_of_matrix, Multiply_of_matrixHomo,
     Multiply_of_matrixrotation, Multiply_of_matrixtwist,

src/dynamic_graph/sot/core/meta_task_6d.py

@@ -7,7 +7,8 @@
 
 def toFlags(arr):
     """
-    Convert an array of boolean to a /flag/ format, type 001010110, in little indian
+    Convert an array of boolean to a /flag/ format, type 001010110,
+    in little indian
     (reverse order, first bool of the list will be the [01] of extrem right).
     """
     lres = [0] * (max(arr) + 1)

src/dynamic_graph/sot/core/meta_tasks.py

@@ -34,7 +34,7 @@ def ref(self, v):
         self.featureDes.errorIN.value = v
 
 
-# --- HELPER FUNCTIONS ---------------------------------------------------------
+# --- HELPER FUNCTIONS --------------------------------------------------------
 def setGain(gain, val):
     if val is not None:
         if isinstance(val, int) or isinstance(val, float):

src/dynamic_graph/sot/core/meta_tasks_kine.py

@@ -1,7 +1,8 @@
 from dynamic_graph import plug
 from dynamic_graph.sot.core.gain_adaptive import GainAdaptive
 from dynamic_graph.sot.core.meta_task_6d import MetaTask6d
-# TODO: this function is imported from meta_tasks_kine in several places, whereas it is defined in meta_tasks
+# TODO: this function is imported from meta_tasks_kine in several places,
+# whereas it is defined in meta_tasks
 from dynamic_graph.sot.core.meta_tasks import gotoNd  # noqa
 from dynamic_graph.sot.core.meta_tasks import MetaTaskCom
 from dynamic_graph.sot.core.task import Task

src/dynamic_graph/sot/core/meta_tasks_kine_relative.py

@@ -99,7 +99,7 @@ def opmodifBase(self, m):
             self.opPointModifBase.activ = True
 
 
-# --- HELPER FUNCTIONS ---------------------------------------------------------
+# --- HELPER FUNCTIONS --------------------------------------------------------
 
 
 def goto6dRel(task, position, positionRef, gain=None, resetJacobian=True):
@@ -141,20 +141,27 @@ def gotoNdRel(task,
 
 Inherited from MetaTask6d.
 
-The aim of this MetaTask is to give a simple and immediate interface to implement a relative task between two
-operational points of the robot. The new variable "opPointBase" represents in fact the second operational point (the
+The aim of this MetaTask is to give a simple and immediate interface to
+implement a relative task between two
+operational points of the robot. The new variable "opPointBase" represents
+in fact the second operational point (the
 first is inherited from the father class).
 
-It's been decided to reuse (so not to redefine) all methodes from MetaTask6d related to the opPoint to implement the
-behaviour of one of the two points (called "Other" from now on) and to reimplement in a intuitive way the same
+It's been decided to reuse (so not to redefine) all methodes from MetaTask6d
+related to the opPoint to implement the
+behaviour of one of the two points (called "Other" from now on) and to
+reimplement in a intuitive way the same
 functions for the second point ("Ref").
 
 
 Utilization
 
-It should be noticed that both feature and reference are defined as a couple of signals, while normally it would be
-enough define the reference as one signal that represents the diplacement between the two positions. Nevertheless this
-redundant approach allows to a very intuitive and safe usage of the class because the references can be set just using
+It should be noticed that both feature and reference are defined as a
+couple of signals, while normally it would be
+enough define the reference as one signal that represents the diplacement
+between the two positions. Nevertheless this
+redundant approach allows to a very intuitive and safe usage of the class
+because the references can be set just using
 the current position of the two operational points.
 For this reason all the goTo functions have been redefined.
 

src/dynamic_graph/sot/core/utils/thread_interruptible_loop.py

@@ -1,5 +1,5 @@
-# This class embeds a given loop function (generally by using a decorator) into a
-# dedicated thread, whose execution can be stoped or run on demand from the
+# This class embeds a given loop function (generally by using a decorator) into
+# a dedicated thread, whose execution can be stoped or run on demand from the
 # script thread.
 #
 # To use the previous class, a 'loop' function has to be defined.

src/dynamic_graph/sot/core/utils/viewer_helper.py

@@ -55,7 +55,8 @@ def addRobotViewer(robot, **args):
         if small:
             if verbose:
                 print('using a small robot')
-            RobotClass.stateFullSize = lambda x: stateFullSize(x, small_extra * (0.0, ))
+            RobotClass.stateFullSize = lambda x: \
+                stateFullSize(x, small_extra * (0.0, ))
         else:
             RobotClass.stateFullSize = stateFullSize
 

tests/python/initialize-euler.py

@@ -12,8 +12,7 @@ def test_initialize_ie(self):
         with self.assertRaises(dgpy.dgpyError) as cm:
             ent.initialize()
         self.assertEqual(
-            str(cm.exception),
-            'In SignalPtr: SIN ptr not set. (in signal '
+            str(cm.exception), 'In SignalPtr: SIN ptr not set. (in signal '
             '<sotIntegratorAbstract(ie)::input(vector)::sin>)'
         )
 

tests/python/matrix-util.py

@@ -31,9 +31,6 @@ def test_rpy_tr(self):
                              (0, 0, 0, 1))),
         ]:
             np.testing.assert_allclose(tr, mod.rpy2tr(*rpy), atol=1e-15)
-            # np.testing.assert_allclose(rpy, mod.tr2rpy(tr), atol=1e-15)
-            # np.testing.assert_allclose(tr, mod.rpy2tr(*mod.tr2rpy(tr)), atol=1e-15)
-            # np.testing.assert_allclose(rpy, mod.tr2rpy(mod.rpy2tr(*rpy)), atol=1e-15)
 
     def test_matrix_rpy(self):
         for mat, rpy in [
@@ -44,7 +41,6 @@ def test_matrix_rpy(self):
             # np.testing.assert_allclose(mat, mod.RPYToMatrix(rpy))
             np.testing.assert_allclose(rpy,
                                        mod.matrixToRPY(mod.RPYToMatrix(rpy)))
-            # np.testing.assert_allclose(mat, mod.RPYToMatrix(mod.matrixToRPY(mat)))
 
         def test_rotate(self):
             for axis, angle, mat in [