clean up examples

Author: rubenvanparys

examples/p2p_dubins.py

@@ -52,8 +52,8 @@
 vehicle.plot('state', knots=True, labels=['x (m)', 'y (m)', 'theta (rad)'])
 
 if vehicle.options['substitution']:
-  vehicle.plot('err_pos', knots=True)
-  vehicle.plot('err_dpos', knots=True)
+    vehicle.plot('err_pos', knots=True)
+    vehicle.plot('err_dpos', knots=True)
 
 # run it!
 simulator.run()

examples/p2p_holonomic_balls.py

@@ -20,7 +20,6 @@
 from omgtools import *
 
 # create vehicle
-## Holonomic
 vehicle = Holonomic(shapes=Circle(0.2), options={'syslimit': 'norm_2'})
 vehicle.define_knots(knot_intervals=10)
 
@@ -36,17 +35,17 @@
                              'values': [[0., 0.0], [0., 0.25]]}}
 
 environment.add_obstacle(Obstacle({'position': [0.,-0.5]}, shape=Circle(0.75),
-	                                  simulation={'trajectories': trajectories1}))
+    simulation={'trajectories': trajectories1}))
 environment.add_obstacle(Obstacle({'position': [2.,0.5]}, shape=Circle(0.75)))
 environment.add_obstacle(Obstacle({'position': [-2.,0.5]}, shape=Circle(0.75)))
 
 environment.add_obstacle(Obstacle({'position': [0.,-2.25]}, shape=Circle(0.75),
-	                                  simulation={'trajectories': trajectories2}))
+    simulation={'trajectories': trajectories2}))
 
 # create a point-to-point problem
 problem = Point2point(vehicle, environment, freeT=True)
-problem.set_options({'solver_options': {'ipopt': {'ipopt.linear_solver': 'ma57', 
-	    'ipopt.hessian_approximation': 'exact'}}})
+problem.set_options({'solver_options': {'ipopt': {'ipopt.linear_solver': 'ma57',
+    'ipopt.hessian_approximation': 'exact'}}})
 problem.init()
 
 # create simulator

examples/p2p_holonomic_blocking.py

@@ -65,5 +65,3 @@
 
 # run it!
 simulator.run()
-
-# problem.save_movie('scene', number_of_frames=60, name='warehouse', axis=False)

examples/p2p_holonomic_multiproblem.py

@@ -60,6 +60,3 @@
 simulator.set_problem(problem2)
 vehicle.set_terminal_conditions([0.0, 1.0])
 simulator.run()
-
-# plot movie
-# problem2.plot_movie('scene', number_of_frames=100, repeat=False)