[tf2_kdl] pep8 formatting

Author: gleichdick

tf2_kdl/docs/source/conf.py

@@ -3,26 +3,27 @@
 # tf2 documentation build configuration file, created by
 # sphinx-quickstart on Mon Jun  1 14:21:53 2009.
 #
-# This file is execfile()d with the current directory set to its containing dir.
+# This file is execfile()d with the current directory set to its
+# containing dir.
 #
 # Note that not all possible configuration values are present in this
 # autogenerated file.
 #
 # All configuration values have a default; values that are commented out
 # serve to show the default.
 
-import sys, os
-
 # If extensions (or modules to document with autodoc) are in another directory,
 # add these directories to sys.path here. If the directory is relative to the
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 # sys.path.append(os.path.abspath('./src/tf2_kdl'))
 
-# -- General configuration -----------------------------------------------------
+# -- General configuration ----------------------------------------------------
 
-# Add any Sphinx extension module names here, as strings. They can be extensions
+# Add any Sphinx extension module names here, as strings.
+# They can be extensions
 # coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
-extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest', 'sphinx.ext.intersphinx', 'sphinx.ext.imgmath']
+extensions = ['sphinx.ext.autodoc', 'sphinx.ext.doctest',
+              'sphinx.ext.intersphinx', 'sphinx.ext.imgmath']
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']
@@ -31,7 +32,7 @@
 source_suffix = '.rst'
 
 # The encoding of source files.
-#source_encoding = 'utf-8'
+# source_encoding = 'utf-8'
 
 # The master toctree document.
 master_doc = 'index'
@@ -51,45 +52,46 @@
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
-#language = None
+# language = None
 
 # There are two options for replacing |today|: either, you set today to some
 # non-false value, then it is used:
-#today = ''
+# today = ''
 # Else, today_fmt is used as the format for a strftime call.
-#today_fmt = '%B %d, %Y'
+# today_fmt = '%B %d, %Y'
 
 # List of documents that shouldn't be included in the build.
-#unused_docs = []
+# unused_docs = []
 
 # List of directories, relative to source directory, that shouldn't be searched
 # for source files.
 exclude_trees = ['_build']
 
 exclude_patterns = ['_CHANGELOG.rst']
 
-# The reST default role (used for this markup: `text`) to use for all documents.
-#default_role = None
+# The reST default role (used for this markup: `text`) to use
+# for all documents.
+# default_role = None
 
 # If true, '()' will be appended to :func: etc. cross-reference text.
-#add_function_parentheses = True
+# add_function_parentheses = True
 
 # If true, the current module name will be prepended to all description
 # unit titles (such as .. function::).
-#add_module_names = True
+# add_module_names = True
 
 # If true, sectionauthor and moduleauthor directives will be shown in the
 # output. They are ignored by default.
-#show_authors = False
+# show_authors = False
 
 # The name of the Pygments (syntax highlighting) style to use.
 pygments_style = 'sphinx'
 
 # A list of ignored prefixes for module index sorting.
-#modindex_common_prefix = []
+# modindex_common_prefix = []
 
 
-# -- Options for HTML output ---------------------------------------------------
+# -- Options for HTML output ------------------------------------------------
 
 # The theme to use for HTML and HTML Help pages.  Major themes that come with
 # Sphinx are currently 'default' and 'sphinxdoc'.
@@ -98,107 +100,108 @@
 # Theme options are theme-specific and customize the look and feel of a theme
 # further.  For a list of options available for each theme, see the
 # documentation.
-#html_theme_options = {}
+# html_theme_options = {}
 
 # Add any paths that contain custom themes here, relative to this directory.
-#html_theme_path = []
+# html_theme_path = []
 
 # The name for this set of Sphinx documents.  If None, it defaults to
 # "<project> v<release> documentation".
-#html_title = None
+# html_title = None
 
 # A shorter title for the navigation bar.  Default is the same as html_title.
-#html_short_title = None
+# html_short_title = None
 
 # The name of an image file (relative to this directory) to place at the top
 # of the sidebar.
-#html_logo = None
+# html_logo = None
 
 # The name of an image file (within the static path) to use as favicon of the
 # docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
 # pixels large.
-#html_favicon = None
+# html_favicon = None
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-#html_static_path = ['_static']
+# html_static_path = ['_static']
 
 # If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
 # using the given strftime format.
-#html_last_updated_fmt = '%b %d, %Y'
+# html_last_updated_fmt = '%b %d, %Y'
 
 # If true, SmartyPants will be used to convert quotes and dashes to
 # typographically correct entities.
-#html_use_smartypants = True
+# html_use_smartypants = True
 
 # Custom sidebar templates, maps document names to template names.
-#html_sidebars = {}
+# html_sidebars = {}
 
 # Additional templates that should be rendered to pages, maps page names to
 # template names.
-#html_additional_pages = {}
+# html_additional_pages = {}
 
 # If false, no module index is generated.
-#html_use_modindex = True
+# html_use_modindex = True
 
 # If false, no index is generated.
-#html_use_index = True
+# html_use_index = True
 
 # If true, the index is split into individual pages for each letter.
-#html_split_index = False
+# html_split_index = False
 
 # If true, links to the reST sources are added to the pages.
-#html_show_sourcelink = True
+# html_show_sourcelink = True
 
 # If true, an OpenSearch description file will be output, and all pages will
 # contain a <link> tag referring to it.  The value of this option must be the
 # base URL from which the finished HTML is served.
-#html_use_opensearch = ''
+# html_use_opensearch = ''
 
 # If nonempty, this is the file name suffix for HTML files (e.g. ".xhtml").
-#html_file_suffix = ''
+# html_file_suffix = ''
 
 # Output file base name for HTML help builder.
 htmlhelp_basename = 'tfdoc'
 
 
-# -- Options for LaTeX output --------------------------------------------------
+# -- Options for LaTeX output -------------------------------------------------
 
 # The paper size ('letter' or 'a4').
-#latex_paper_size = 'letter'
+# latex_paper_size = 'letter'
 
 # The font size ('10pt', '11pt' or '12pt').
-#latex_font_size = '10pt'
+# latex_font_size = '10pt'
 
 # Grouping the document tree into LaTeX files. List of tuples
-# (source start file, target name, title, author, documentclass [howto/manual]).
+# (source start file, target name, title, author,
+#  documentclass [howto/manual]).
 latex_documents = [
   ('index', 'tf.tex', u'stereo\\_utils Documentation',
    u'Tully Foote and Eitan Marder-Eppstein', 'manual'),
 ]
 
 # The name of an image file (relative to this directory) to place at the top of
 # the title page.
-#latex_logo = None
+# latex_logo = None
 
 # For "manual" documents, if this is true, then toplevel headings are parts,
 # not chapters.
-#latex_use_parts = False
+# latex_use_parts = False
 
 # Additional stuff for the LaTeX preamble.
-#latex_preamble = ''
+# latex_preamble = ''
 
 # Documents to append as an appendix to all manuals.
-#latex_appendices = []
+# latex_appendices = []
 
 # If false, no module index is generated.
-#latex_use_modindex = True
+# latex_use_modindex = True
 
 
 # Example configuration for intersphinx: refer to the Python standard library.
 intersphinx_mapping = {
     'http://docs.python.org/': None,
     'http://docs.opencv.org/3.0-last-rst/': None,
-    'http://docs.scipy.org/doc/numpy' : None
+    'http://docs.scipy.org/doc/numpy': None
     }

tf2_kdl/scripts/test.py

@@ -4,11 +4,11 @@
 import rclpy
 import PyKDL
 import tf2_ros
-import tf2_kdl
+import tf2_kdl  # noqa(F401)
 from geometry_msgs.msg import TransformStamped, Quaternion
-from copy import deepcopy
 import builtin_interfaces
 
+
 class KDLConversions(unittest.TestCase):
     def test_transform(self):
         b = tf2_ros.Buffer()
@@ -19,36 +19,42 @@ def test_transform(self):
         t.header.frame_id = 'a'
         t.child_frame_id = 'b'
         b.set_transform(t, 'eitan_rocks')
-        out = b.lookup_transform('a','b', rclpy.time.Time(seconds=2),  rclpy.time.Duration(seconds=2))
+        out = b.lookup_transform('a', 'b',
+                                 rclpy.time.Time(seconds=2),
+                                 rclpy.time.Duration(seconds=2))
         self.assertEqual(out.transform.translation.x, 1)
         self.assertEqual(out.transform.rotation.x, 1)
         self.assertEqual(out.header.frame_id, 'a')
         self.assertEqual(out.child_frame_id, 'b')
 
-        v = PyKDL.Vector(1,2,3)
-        out = b.transform(tf2_ros.Stamped(v, builtin_interfaces.msg.Time(sec=2), 'a'), 'b')
+        v = PyKDL.Vector(1, 2, 3)
+        out = b.transform(
+            tf2_ros.Stamped(v, builtin_interfaces.msg.Time(sec=2), 'a'), 'b')
         self.assertEqual(out.x(), 0)
         self.assertEqual(out.y(), -2)
         self.assertEqual(out.z(), -3)
 
-        f = PyKDL.Frame(PyKDL.Rotation.RPY(1,2,3), PyKDL.Vector(1,2,3))
-        out = b.transform(tf2_ros.Stamped(f, builtin_interfaces.msg.Time(sec=2), 'a'), 'b')
+        f = PyKDL.Frame(PyKDL.Rotation.RPY(1, 2, 3), PyKDL.Vector(1, 2, 3))
+        out = b.transform(
+            tf2_ros.Stamped(f, builtin_interfaces.msg.Time(sec=2), 'a'), 'b')
         self.assertEqual(out.p.x(), 0)
         self.assertEqual(out.p.y(), -2)
         self.assertEqual(out.p.z(), -3)
         # TODO(tfoote) check values of rotation
 
-        t = PyKDL.Twist(PyKDL.Vector(1,2,3), PyKDL.Vector(4,5,6))
-        out = b.transform(tf2_ros.Stamped(t, builtin_interfaces.msg.Time(sec=2), 'a'), 'b')
+        t = PyKDL.Twist(PyKDL.Vector(1, 2, 3), PyKDL.Vector(4, 5, 6))
+        out = b.transform(
+            tf2_ros.Stamped(t, builtin_interfaces.msg.Time(sec=2), 'a'), 'b')
         self.assertEqual(out.vel.x(), 1)
         self.assertEqual(out.vel.y(), -8)
         self.assertEqual(out.vel.z(), 2)
         self.assertEqual(out.rot.x(), 4)
         self.assertEqual(out.rot.y(), -5)
         self.assertEqual(out.rot.z(), -6)
 
-        w = PyKDL.Wrench(PyKDL.Vector(1,2,3), PyKDL.Vector(4,5,6))
-        out = b.transform(tf2_ros.Stamped(w, builtin_interfaces.msg.Time(sec=2), 'a'), 'b')
+        w = PyKDL.Wrench(PyKDL.Vector(1, 2, 3), PyKDL.Vector(4, 5, 6))
+        out = b.transform(
+            tf2_ros.Stamped(w, builtin_interfaces.msg.Time(sec=2), 'a'), 'b')
         self.assertEqual(out.force.x(), 1)
         self.assertEqual(out.force.y(), -2)
         self.assertEqual(out.force.z(), -3)
@@ -57,7 +63,7 @@ def test_transform(self):
         self.assertEqual(out.torque.z(), -4)
 
     def test_convert(self):
-        v = PyKDL.Vector(1,2,3)
+        v = PyKDL.Vector(1, 2, 3)
         vs = tf2_ros.Stamped(v, builtin_interfaces.msg.Time(sec=2), 'a')
         vs2 = tf2_ros.convert(vs, PyKDL.Vector)
         self.assertEqual(vs.x(), 1)

tf2_kdl/src/tf2_kdl/__init__.py

@@ -1 +1 @@
-from .tf2_kdl import *
+from .tf2_kdl import *  # noqa