fix issues detected by LGTM

Author: petercorke

spatialmath/DualQuaternion.py

@@ -302,20 +302,16 @@ def __init__(self, real=None, dual=None):
         and :math:`q_t` is a pure quaternion formed from the translational part
         :math:`t`.
         """
-        if real is None and dual is None:
-            self.real = None
-            self.dual = None
-            return
-        elif real is not None and dual is not None:
-            self.real = real  # quaternion, real part
-            self.dual = dual  # quaternion, dual part
-        elif dual is None and isinstance(real, SE3):
+
+        if dual is None and isinstance(real, SE3):
             T = real
             S = UnitQuaternion(T.R)
             D = Quaternion.Pure(T.t)
 
-            self.real = S
-            self.dual = 0.5 * D * S
+            real = S
+            dual = 0.5 * D * S
+
+        super().__init__(real, dual)
 
     def SE3(self):
         """
@@ -347,6 +343,9 @@ def SE3(self):
 
 if __name__ == "__main__":  # pragma: no cover
 
-    import pathlib
+    from spatialmath import SE3, UnitDualQuaternion, DualQuaternion
+
+    print(UnitDualQuaternion(SE3()))
+    # import pathlib
 
-    exec(open(pathlib.Path(__file__).parent.parent.absolute() / "tests" / "test_dualquaternion.py").read())  # pylint: disable=exec-used
+    # exec(open(pathlib.Path(__file__).parent.parent.absolute() / "tests" / "test_dualquaternion.py").read())  # pylint: disable=exec-used

spatialmath/base/animate.py

@@ -818,9 +818,8 @@ def set_ylabel(self, *args, **kwargs):
 
     from spatialmath import base
 
-    T = base.rpy2r(0.3, 0.4, 0.5)
+    # T = base.rpy2r(0.3, 0.4, 0.5)
     # base.tranimate(T, wait=True)
 
     T = base.rot2(2)
     base.tranimate2(T, wait=True)
-    pass

spatialmath/base/graphics.py

@@ -1,6 +1,5 @@
 import math
 from itertools import product
-from collections.abc import Iterable
 import warnings
 import numpy as np
 import scipy as sp
@@ -1097,10 +1096,10 @@ def _render3D(ax, X, Y, Z, pose=None, filled=False, color=None, **kwargs):
         X, Y, Z = np.squeeze(np.dsplit(xyz.T.reshape(X.shape + (3,)), 3))
 
     if filled:
-        ax.plot_surface(X, Y, Z, color=color, **kwargs)
+        return ax.plot_surface(X, Y, Z, color=color, **kwargs)
     else:
         kwargs["colors"] = color
-        ax.plot_wireframe(X, Y, Z, **kwargs)
+        return ax.plot_wireframe(X, Y, Z, **kwargs)
 
 
 def _axes_dimensions(ax):

spatialmath/base/transforms3d.py

@@ -3049,8 +3049,7 @@ def tranimate(T, **kwargs):
     :seealso: `trplot`, `plotvol3`
     """
 
-    block = kwargs.get("block", False)
-    kwargs["block"] = False
+    kwargs["block"] = kwargs.get("block", False)
 
     anim = smb.animate.Animate(**kwargs)
     try:

spatialmath/baseposematrix.py

@@ -1076,8 +1076,8 @@ def __pow__(self, n):
     # ----------------------- arithmetic
 
     def __mul__(
-        left, right
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``*`` operator (superclass method)
 
@@ -1244,8 +1244,8 @@ def __mul__(
             return NotImplemented
 
     def __matmul__(
-        left, right
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``@`` operator (superclass method)
 
@@ -1272,8 +1272,8 @@ def __matmul__(
             raise TypeError("@ only applies to pose composition")
 
     def __rmul__(
-        right, left
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        right, left  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``*`` operator (superclass method)
 
@@ -1300,8 +1300,8 @@ def __rmul__(
         return right.__mul__(left)
 
     def __imul__(
-        left, right
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``*=`` operator (superclass method)
 
@@ -1318,8 +1318,8 @@ def __imul__(
         return left.__mul__(right)
 
     def __truediv__(
-        left, right
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``/`` operator (superclass method)
 
@@ -1373,8 +1373,8 @@ def __truediv__(
             raise ValueError("bad operands")
 
     def __itruediv__(
-        left, right
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``/=`` operator (superclass method)
 
@@ -1391,8 +1391,8 @@ def __itruediv__(
         return left.__truediv__(right)
 
     def __add__(
-        left, right
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``+`` operator (superclass method)
 
@@ -1443,8 +1443,8 @@ def __add__(
         return left._op2(right, lambda x, y: x + y)
 
     def __radd__(
-        left, right
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``+`` operator (superclass method)
 
@@ -1461,8 +1461,8 @@ def __radd__(
         return left.__add__(right)
 
     def __iadd__(
-        left, right
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``+=`` operator (superclass method)
 
@@ -1479,8 +1479,8 @@ def __iadd__(
         return left.__add__(right)
 
     def __sub__(
-        left, right
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``-`` operator (superclass method)
 
@@ -1531,8 +1531,8 @@ def __sub__(
         return left._op2(right, lambda x, y: x - y)
 
     def __rsub__(
-        left, right
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``-`` operator (superclass method)
 
@@ -1549,8 +1549,8 @@ def __rsub__(
         return -left.__sub__(right)
 
     def __isub__(
-        left, right
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Overloaded ``-=`` operator (superclass method)
 
@@ -1624,8 +1624,8 @@ def __ne__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argu
         return (not eq if isinstance(eq, bool) else [not x for x in eq])
 
     def _op2(
-        left, right, op
-    ):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+        left, right, op  # lgtm[py/not-named-self] pylint: disable=no-self-argument
+    ):
         """
         Perform binary operation
 

spatialmath/geom3d.py

@@ -9,7 +9,6 @@
 import spatialmath.base as base
 from spatialmath import SE3
 from spatialmath.baseposelist import BasePoseList
-from itertools import product
 
 _eps = np.finfo(np.float64).eps
 
@@ -564,7 +563,7 @@ def contains(self, x, tol=50*_eps):
         else:
             raise ValueError('bad argument')
 
-    def __eq__(l1, l2):  # pylint: disable=no-self-argument
+    def __eq__(l1, l2):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Test if two lines are equivalent
         
@@ -581,7 +580,7 @@ def __eq__(l1, l2):  # pylint: disable=no-self-argument
         """
         return abs( 1 - np.dot(base.unitvec(l1.vec), base.unitvec(l2.vec))) < 10*_eps
 
-    def __ne__(l1, l2):  # pylint: disable=no-self-argument
+    def __ne__(l1, l2):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Test if two lines are not equivalent
         
@@ -598,7 +597,7 @@ def __ne__(l1, l2):  # pylint: disable=no-self-argument
         """
         return not l1.__eq__(l2)
 
-    def isparallel(l1, l2, tol=10*_eps):  # pylint: disable=no-self-argument
+    def isparallel(l1, l2, tol=10*_eps):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Test if lines are parallel
         
@@ -616,7 +615,7 @@ def isparallel(l1, l2, tol=10*_eps):  # pylint: disable=no-self-argument
         return np.linalg.norm(np.cross(l1.w, l2.w) ) < tol
 
 
-    def __or__(l1, l2):  # pylint: disable=no-self-argument
+    def __or__(l1, l2):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``|`` operator tests for parallelism
         
@@ -633,7 +632,7 @@ def __or__(l1, l2):  # pylint: disable=no-self-argument
         """
         return l1.isparallel(l2)
 
-    def __xor__(l1, l2):  # pylint: disable=no-self-argument
+    def __xor__(l1, l2):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
 
         """
         Overloaded ``^`` operator tests for intersection
@@ -660,7 +659,7 @@ def __xor__(l1, l2):  # pylint: disable=no-self-argument
     # ------------------------------------------------------------------------- #       
 
 
-    def intersects(l1, l2):  # pylint: disable=no-self-argument
+    def intersects(l1, l2):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Intersection point of two lines
         
@@ -683,7 +682,7 @@ def intersects(l1, l2):  # pylint: disable=no-self-argument
             # lines don't intersect
             return None
 
-    def distance(l1, l2):  # pylint: disable=no-self-argument
+    def distance(l1, l2):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Minimum distance between lines
         
@@ -836,7 +835,7 @@ def closest_to_point(self, x):
         return p, d
 
 
-    def commonperp(l1, l2):  # pylint: disable=no-self-argument
+    def commonperp(l1, l2):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Common perpendicular to two lines
         
@@ -862,7 +861,7 @@ def commonperp(l1, l2):  # pylint: disable=no-self-argument
         return l1.__class__(v, w)
 
 
-    def __mul__(left, right):  # pylint: disable=no-self-argument
+    def __mul__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         r"""
         Reciprocal product
         
@@ -888,7 +887,7 @@ def __mul__(left, right):  # pylint: disable=no-self-argument
         else:
             raise ValueError('bad arguments')
 
-    def __rmul__(right, left):  # pylint: disable=no-self-argument
+    def __rmul__(right, left):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Rigid-body transformation of 3D line
 
@@ -913,7 +912,7 @@ def __rmul__(right, left):  # pylint: disable=no-self-argument
     #  PLUCKER LINE DISTANCE AND INTERSECTION
     # ------------------------------------------------------------------------- #       
 
-    def intersect_plane(self, plane):  # pylint: disable=no-self-argument
+    def intersect_plane(self, plane):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         r"""
         Line intersection with a plane
         
@@ -1193,8 +1192,6 @@ def __init__(self, v=None, w=None):
     import pathlib
     import os.path
 
-    from spatialmath import Twist3
-
     L = Line3.TwoPoints((1,2,0), (1,2,1))
     print(L)
     print(L.intersect_plane([0, 0, 1, 0]))
@@ -1220,7 +1217,6 @@ def __init__(self, v=None, w=None):
     print(L2)
     print(L2.intersect_plane([0, 0, 1, 0]))
 
-    pass
     # base.plotvol3(10)
     # S = Twist3.UnitRevolute([0, 0, 1], [2, 3, 2], 0.5);
     # L = S.line()