Fix plenty of whitespace linter errors

Author: gonzalocasas

src/compas_fab/backends/ros/messages/actionlib_msgs.py

@@ -4,19 +4,22 @@
 from .std_msgs import Header
 from .std_msgs import Time
 
+
 class GoalID(ROSmsg):
     """http://docs.ros.org/api/actionlib_msgs/html/msg/GoalID.html
     """
+
     def __init__(self, stamp=Time(), id=""):
         self.stamp = stamp
         self.id = id
-    
+
     @classmethod
     def from_msg(cls, msg):
         stamp = Time.from_msg(msg['stamp'])
         id = msg['id']
         return cls(stamp, id)
 
+
 class GoalStatus(ROSmsg):
     """http://docs.ros.org/api/actionlib_msgs/html/msg/GoalStatus.html
     """
@@ -36,7 +39,7 @@ def __init__(self, goal_id=GoalID(), status=0, text=''):
         self.goal_id = goal_id
         self.status = status
         self.text = text
-    
+
     @classmethod
     def from_msg(cls, msg):
         goal_id = GoalID.from_msg(msg['goal_id'])
@@ -52,18 +55,21 @@ def human_readable(self):
                 return k
         return ''
 
+
 class GoalStatusArray(ROSmsg):
     """http://docs.ros.org/api/actionlib_msgs/html/msg/GoalStatusArray.html
     """
+
     def __init__(self, header=Header(), status_list=[]):
         self.header = header
         self.status_list = status_list
 
+
 """
 rostopic info /follow_joint_trajectory/cancel
 Type: actionlib_msgs/GoalID
 
 rostopic info /follow_joint_trajectory/status
 Type: actionlib_msgs/GoalStatusArray
 
-"""
+"""

src/compas_fab/backends/ros/messages/direct_ur.py

@@ -4,6 +4,7 @@
 class URmsg(object):
     """
     """
+
     def __init__(self, **kwargs):
         for k, v in kwargs.items():
             setattr(self, k, v)
@@ -14,39 +15,42 @@ def __str__(self):
             if value:
                 result += "%s, " % value
         return result[:-2]
-    
+
     def __repr__(self):
         return self.__str__
 
 
 class Point(URmsg):
     """
     """
+
     def __init__(self, x, y, z):
-        self.x = x # [m]
-        self.y = y # [m]
-        self.z = z # [m]
+        self.x = x  # [m]
+        self.y = y  # [m]
+        self.z = z  # [m]
 
     def __str__(self):
-        return '%.6f, %.6f, %.6f' % (self.x ,self.y, self.z)
+        return '%.6f, %.6f, %.6f' % (self.x, self.y, self.z)
 
 
 class AxisAngle(URmsg):
     """
     """
+
     def __init__(self, x, y, z):
         self.x = x
         self.y = y
         self.z = z
-    
+
     def __str__(self):
-        return '%.6f, %.6f, %.6f' % (self.x ,self.y, self.z)
+        return '%.6f, %.6f, %.6f' % (self.x, self.y, self.z)
 
 
 class URPose(URmsg):
     """
     """
-    def __init__(self, position=Point(0,0,0), orientation=AxisAngle(0,0,0)):
+
+    def __init__(self, position=Point(0, 0, 0), orientation=AxisAngle(0, 0, 0)):
         self.position = position
         self.orientation = orientation
 
@@ -55,21 +59,22 @@ def from_frame(cls, frame):
         point = frame.point
         ax, ay, az = frame.axis_angle_vector
         return cls(Point(*list(point)), AxisAngle(ax, ay, az))
-    
+
     def __str__(self):
         return "p[%s, %s]" % (self.position, self.orientation)
 
 
 class URPoseTrajectoryPoint(URmsg):
     """
     """
+
     def __init__(self, pose=URPose(), acceleration=None, velocity=None, time=None, radius=None):
         self.pose = pose
-        self.acceleration = acceleration # [m/s^2]
-        self.velocity = velocity # [m/s]
-        self.time = time # [s]
-        self.radius = radius # [m]
-        
+        self.acceleration = acceleration  # [m/s^2]
+        self.velocity = velocity  # [m/s]
+        self.time = time  # [s]
+        self.radius = radius  # [m]
+
     def __str__(self):
         result = "%s" % self.pose
         if self.acceleration:
@@ -86,6 +91,7 @@ def __str__(self):
 class URMovej(URmsg):
     """
     """
+
     def __init__(self, pose_trajectory_point=URPoseTrajectoryPoint()):
         self.pose_trajectory_point = pose_trajectory_point
 
@@ -96,6 +102,7 @@ def __str__(self):
 class URMovel(URmsg):
     """
     """
+
     def __init__(self, pose_trajectory_point=URPoseTrajectoryPoint()):
         self.pose_trajectory_point = pose_trajectory_point
 
@@ -106,11 +113,12 @@ def __str__(self):
 class URGoal(URmsg):
     """
     """
+
     def __init__(self, script_lines=[]):
         self.script = "def prog():\n\t"
-        self.script += "\n\t".join([str(line) for line in script_lines]) 
+        self.script += "\n\t".join([str(line) for line in script_lines])
         self.script += "\nend\nprog()\n\n"
-    
+
     @property
     def msg(self):
         return {"script": self.script}
@@ -129,11 +137,11 @@ def msg(self):
     velocity = 0.17
     time = 5.
     script_lines = []
-    
-    for frame in frames:        
-        ptp = URPoseTrajectoryPoint(URPose.from_frame(frame), acceleration, velocity, time, None)
+
+    for frame in frames:
+        ptp = URPoseTrajectoryPoint(URPose.from_frame(
+            frame), acceleration, velocity, time, None)
         move = URMovej(ptp)
-        #move = Movel(ptp)
         script_lines.append(move)
 
     urgoal = URGoal(script_lines)

src/compas_fab/backends/ros/messages/geometry_msgs.py

@@ -2,14 +2,14 @@
 
 from .std_msgs import ROSmsg
 from .std_msgs import Header
-from .std_msgs import Time
 
 from compas.geometry import Frame
 
 
 class Point(ROSmsg):
     """http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/Point.html
     """
+
     def __init__(self, x, y, z):
         self.x = x
         self.y = y
@@ -20,10 +20,12 @@ def from_msg(cls, msg):
         x, y, z = msg['x'], msg['y'], msg['z']
         return cls(x, y, z)
 
+
 class Quaternion(ROSmsg):
     """http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/Quaternion.html
     """
-    def __init__(self, x=0. ,y=0., z=0., w=1.):
+
+    def __init__(self, x=0., y=0., z=0., w=1.):
         self.x = x
         self.y = y
         self.z = z
@@ -34,12 +36,15 @@ def from_frame(cls, frame):
         qw, qx, qy, qz = frame.quaternion
         return cls(qx, qy, qz, qw)
 
+
 class Pose(ROSmsg):
     """http://docs.ros.org/kinetic/api/geometry_msgs/html/msg/Pose.html
     """
+
     def __init__(self, position=None, orientation=None):
-        self.position = position if position else Point(0,0,0)
-        self.orientation = orientation if orientation else Quaternion(0,0,0,1)
+        self.position = position if position else Point(0, 0, 0)
+        self.orientation = orientation if orientation else Quaternion(
+            0, 0, 0, 1)
 
     @classmethod
     def from_frame(cls, frame):
@@ -50,7 +55,8 @@ def from_frame(cls, frame):
     @property
     def frame(self):
         point = [self.position.x, self.position.y, self.position.z]
-        quaternion = [self.orientation.w, self.orientation.x, self.orientation.y, self.orientation.z]
+        quaternion = [self.orientation.w, self.orientation.x,
+                      self.orientation.y, self.orientation.z]
         return Frame.from_quaternion(quaternion, point=point)
 
     @classmethod
@@ -59,9 +65,11 @@ def from_msg(cls, msg):
         orientation = Quaternion.from_msg(msg['orientation'])
         return cls(position, orientation)
 
+
 class PoseStamped(ROSmsg):
     """http://docs.ros.org/melodic/api/geometry_msgs/html/msg/PoseStamped.html
     """
+
     def __init__(self, header=Header(), pose=Pose()):
         self.header = header
         self.pose = pose
@@ -72,24 +80,30 @@ def from_msg(cls, msg):
         pose = Pose.from_msg(msg['pose'])
         return cls(header, pose)
 
+
 class Vector3(ROSmsg):
     """http://docs.ros.org/api/geometry_msgs/html/msg/Vector3.html
     """
+
     def __init__(self, x=0., y=0., z=0.):
         self.x = x
         self.y = y
         self.z = z
 
+
 class Transform(ROSmsg):
     """http://docs.ros.org/api/geometry_msgs/html/msg/Transform.html
     """
+
     def __init__(self, translation=Vector3(), rotation=Quaternion()):
         self.translation = translation
         self.rotation = rotation
 
+
 class Twist(ROSmsg):
     """http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html
     """
+
     def __init__(self, linear=Vector3(), angular=Vector3()):
         self.linear = linear
         self.angular = angular

src/compas_fab/backends/ros/messages/octomap_msgs.py

@@ -4,7 +4,6 @@
 
 from .std_msgs import ROSmsg
 from .std_msgs import Header
-from .std_msgs import Time
 
 from .geometry_msgs import Pose
 

src/compas_fab/backends/ros/messages/sensor_msgs.py

@@ -2,7 +2,7 @@
 
 from .std_msgs import ROSmsg
 from .std_msgs import Header
-from .std_msgs import Time
+
 
 class JointState(ROSmsg):
     """http://docs.ros.org/kinetic/api/sensor_msgs/html/msg/JointState.html
@@ -19,11 +19,11 @@ def __init__(self, header=None, name=None, position=None, velocity=None,
     @classmethod
     def from_name_and_position(cls, name, position):
         return cls(Header(), name, position, [], [])
-    
+
     @classmethod
     def from_configuration(cls):
         pass
-    
+
     @property
     def configuration(self):
         pass

src/compas_fab/backends/ros/messages/shape_msgs.py

@@ -77,8 +77,8 @@ class Mesh(ROSmsg):
     """http://docs.ros.org/kinetic/api/shape_msgs/html/msg/Mesh.html
     """
     def __init__(self, triangles=None, vertices=None):
-        self.triangles = triangles if triangles else [] # shape_msgs/MeshTriangle[]
-        self.vertices = vertices if vertices else [] # geometry_msgs/Point[]
+        self.triangles = triangles or []  # shape_msgs/MeshTriangle[]
+        self.vertices = vertices or []  # geometry_msgs/Point[]
 
     @classmethod
     def from_mesh(cls, compas_mesh):
@@ -110,7 +110,7 @@ class MeshTriangle(ROSmsg):
     def __init__(self, vertex_indices=None):
         if len(vertex_indices) != 3:
             raise ValueError("Please specify 3 indices for face, %d given." % len(vertex_indices))
-        self.vertex_indices = vertex_indices if vertex_indices else [] # uint32[3]
+        self.vertex_indices = vertex_indices or []  # uint32[3]
 
     @classmethod
     def from_msg(cls, msg):

src/compas_fab/backends/ros/messages/std_msgs.py

@@ -30,7 +30,7 @@ def from_msg(cls, msg):
 
     def __str__(self):
         return str(self.msg)
-    
+
     def __repr__(self):
         return self.__str__
 
@@ -55,6 +55,7 @@ def __init__(self, seq=0, stamp=Time(), frame_id='/world'):
         self.stamp = stamp
         self.frame_id = frame_id
 
+
 class String(ROSmsg):
     """http://docs.ros.org/api/std_msgs/html/msg/String.html
     """