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enable flake8 E231: missing whitespace after comma

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This commit is contained in:
Adeeb Shihadeh
2020-05-31 12:37:52 -07:00
parent ddcc78d2d5
commit efd5dffb1e
60 changed files with 228 additions and 228 deletions
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common/transformations/orientation.py
+9 -9
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@@ -13,11 +13,11 @@ Supports both x2y and y_from_x format (y_from_x preferred!).
def euler2quat(eulers):
eulers = array(eulers)
if len(eulers.shape) > 1:
output_shape = (-1,4)
output_shape = (-1, 4)
else:
output_shape = (4,)
eulers = np.atleast_2d(eulers)
gamma, theta, psi = eulers[:,0], eulers[:,1], eulers[:,2]
gamma, theta, psi = eulers[:, 0], eulers[:, 1], eulers[:, 2]
q0 = np.cos(gamma / 2) * np.cos(theta / 2) * np.cos(psi / 2) + \
np.sin(gamma / 2) * np.sin(theta / 2) * np.sin(psi / 2)
@@ -30,7 +30,7 @@ def euler2quat(eulers):
quats = array([q0, q1, q2, q3]).T
for i in range(len(quats)):
if quats[i,0] < 0:
if quats[i, 0] < 0:
quats[i] = -quats[i]
return quats.reshape(output_shape)
@@ -38,11 +38,11 @@ def euler2quat(eulers):
def quat2euler(quats):
quats = array(quats)
if len(quats.shape) > 1:
output_shape = (-1,3)
output_shape = (-1, 3)
else:
output_shape = (3,)
quats = np.atleast_2d(quats)
q0, q1, q2, q3 = quats[:,0], quats[:,1], quats[:,2], quats[:,3]
q0, q1, q2, q3 = quats[:, 0], quats[:, 1], quats[:, 2], quats[:, 3]
gamma = np.arctan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1**2 + q2**2))
theta = np.arcsin(2 * (q0 * q2 - q3 * q1))
@@ -101,7 +101,7 @@ def rot2quat(rots):
q = np.empty((len(rots), 4))
for i in range(len(rots)):
_, eigvecs = linalg.eigh(K3[i].T)
eigvecs = eigvecs[:,3:]
eigvecs = eigvecs[:, 3:]
q[i, 0] = eigvecs[-1]
q[i, 1:] = -eigvecs[:-1].flatten()
if q[i, 0] < 0:
@@ -154,9 +154,9 @@ def rot_matrix(roll, pitch, yaw):
cr, sr = np.cos(roll), np.sin(roll)
cp, sp = np.cos(pitch), np.sin(pitch)
cy, sy = np.cos(yaw), np.sin(yaw)
rr = array([[1,0,0],[0, cr,-sr],[0, sr, cr]])
rp = array([[cp,0,sp],[0, 1,0],[-sp, 0, cp]])
ry = array([[cy,-sy,0],[sy, cy,0],[0, 0, 1]])
rr = array([[1, 0, 0], [0, cr, -sr], [0, sr, cr]])
rp = array([[cp, 0, sp], [0, 1, 0], [-sp, 0, cp]])
ry = array([[cy, -sy, 0], [sy, cy, 0], [0, 0, 1]])
return ry.dot(rp.dot(rr))