[tf2_geometry_msgs] pep8 formatting

Author: gleichdick

tf2_geometry_msgs/scripts/test.py

@@ -2,10 +2,12 @@
 
 import unittest
 import rclpy
-import PyKDL
 import tf2_ros
 import tf2_geometry_msgs
-from geometry_msgs.msg import TransformStamped, PointStamped, Vector3Stamped, PoseStamped, PoseWithCovarianceStamped, Quaternion
+from geometry_msgs.msg import (TransformStamped, PointStamped,
+                               Vector3Stamped, PoseStamped,
+                               PoseWithCovarianceStamped, Quaternion)
+
 
 class GeometryMsgs(unittest.TestCase):
     def test_transform(self):
@@ -17,7 +19,9 @@ 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=2.0).to_msg(), rclpy.time.Duration(seconds=2))
+        out = b.lookup_transform('a', 'b',
+                                 rclpy.time.Time(seconds=2.0).to_msg(),
+                                 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')
@@ -30,7 +34,7 @@ def test_transform(self):
         v.point.y = 2.0
         v.point.z = 3.0
         # b.registration.add(PointStamped)
-        out = b.transform(v, 'b', new_type = PointStamped)
+        out = b.transform(v, 'b', new_type=PointStamped)
         self.assertEqual(out.point.x, 0)
         self.assertEqual(out.point.y, -2)
         self.assertEqual(out.point.z, -3)
@@ -100,6 +104,7 @@ def test_transform(self):
         self.assertEqual(out.vector.y, 0)
         self.assertEqual(out.vector.z, 0)
 
+
 if __name__ == '__main__':
     rclpy.init(args=None)
     unittest.main()

tf2_geometry_msgs/src/tf2_geometry_msgs/__init__.py

@@ -1 +1 @@
-from .tf2_geometry_msgs import *
+from .tf2_geometry_msgs import *  # noqa

tf2_geometry_msgs/src/tf2_geometry_msgs/tf2_geometry_msgs.py

@@ -27,83 +27,121 @@
 
 # author: Wim Meeussen
 
-from geometry_msgs.msg import PoseStamped, Vector3Stamped, PointStamped, PoseWithCovarianceStamped
+from geometry_msgs.msg import (PoseStamped, Vector3Stamped, PointStamped,
+                               PoseWithCovarianceStamped)
 import PyKDL
 import tf2_ros
 
+
 def to_msg_msg(msg):
     return msg
 
+
 tf2_ros.ConvertRegistration().add_to_msg(Vector3Stamped, to_msg_msg)
 tf2_ros.ConvertRegistration().add_to_msg(PoseStamped, to_msg_msg)
 tf2_ros.ConvertRegistration().add_to_msg(PointStamped, to_msg_msg)
 
+
 def from_msg_msg(msg):
     return msg
 
+
 tf2_ros.ConvertRegistration().add_from_msg(Vector3Stamped, from_msg_msg)
 tf2_ros.ConvertRegistration().add_from_msg(PoseStamped, from_msg_msg)
 tf2_ros.ConvertRegistration().add_from_msg(PointStamped, from_msg_msg)
 
+
 def transform_to_kdl(t):
-    return PyKDL.Frame(PyKDL.Rotation.Quaternion(t.transform.rotation.x, t.transform.rotation.y,
-                                                 t.transform.rotation.z, t.transform.rotation.w),
+    return PyKDL.Frame(PyKDL.Rotation.Quaternion(t.transform.rotation.x,
+                                                 t.transform.rotation.y,
+                                                 t.transform.rotation.z,
+                                                 t.transform.rotation.w),
                        PyKDL.Vector(t.transform.translation.x,
                                     t.transform.translation.y,
                                     t.transform.translation.z))
 
 
 # PointStamped
 def do_transform_point(point, transform):
-    p = transform_to_kdl(transform) * PyKDL.Vector(point.point.x, point.point.y, point.point.z)
+    p = transform_to_kdl(transform) * PyKDL.Vector(point.point.x,
+                                                   point.point.y,
+                                                   point.point.z)
     res = PointStamped()
     res.point.x = p[0]
     res.point.y = p[1]
     res.point.z = p[2]
     res.header = transform.header
     return res
+
+
 tf2_ros.TransformRegistration().add(PointStamped, do_transform_point)
 
 
 # Vector3Stamped
 def do_transform_vector3(vector3, transform):
-    transform.transform.translation.x = 0.0;
-    transform.transform.translation.y = 0.0;
-    transform.transform.translation.z = 0.0;
-    p = transform_to_kdl(transform) * PyKDL.Vector(vector3.vector.x, vector3.vector.y, vector3.vector.z)
+    transform.transform.translation.x = 0.0
+    transform.transform.translation.y = 0.0
+    transform.transform.translation.z = 0.0
+    p = transform_to_kdl(transform) * PyKDL.Vector(vector3.vector.x,
+                                                   vector3.vector.y,
+                                                   vector3.vector.z)
     res = Vector3Stamped()
     res.vector.x = p[0]
     res.vector.y = p[1]
     res.vector.z = p[2]
     res.header = transform.header
     return res
+
+
 tf2_ros.TransformRegistration().add(Vector3Stamped, do_transform_vector3)
 
+
 # PoseStamped
 def do_transform_pose(pose, transform):
-    f = transform_to_kdl(transform) * PyKDL.Frame(PyKDL.Rotation.Quaternion(pose.pose.orientation.x, pose.pose.orientation.y,
-                                                                          pose.pose.orientation.z, pose.pose.orientation.w),
-                                                PyKDL.Vector(pose.pose.position.x, pose.pose.position.y, pose.pose.position.z))
+    f = transform_to_kdl(transform) * PyKDL.Frame(
+        PyKDL.Rotation.Quaternion(
+            pose.pose.orientation.x, pose.pose.orientation.y,
+            pose.pose.orientation.z, pose.pose.orientation.w),
+        PyKDL.Vector(pose.pose.position.x,
+                     pose.pose.position.y,
+                     pose.pose.position.z))
     res = PoseStamped()
     res.pose.position.x = f.p[0]
     res.pose.position.y = f.p[1]
     res.pose.position.z = f.p[2]
-    (res.pose.orientation.x, res.pose.orientation.y, res.pose.orientation.z, res.pose.orientation.w) = f.M.GetQuaternion()
+    (res.pose.orientation.x,
+     res.pose.orientation.y,
+     res.pose.orientation.z,
+     res.pose.orientation.w) = f.M.GetQuaternion()
     res.header = transform.header
     return res
+
+
 tf2_ros.TransformRegistration().add(PoseStamped, do_transform_pose)
 
+
 # PoseWithCovarianceStamped
 def do_transform_pose_with_covariance_stamped(pose, transform):
-    f = transform_to_kdl(transform) * PyKDL.Frame(PyKDL.Rotation.Quaternion(pose.pose.pose.orientation.x, pose.pose.pose.orientation.y,
-                                                                          pose.pose.pose.orientation.z, pose.pose.pose.orientation.w),
-                                                PyKDL.Vector(pose.pose.pose.position.x, pose.pose.pose.position.y, pose.pose.pose.position.z))
+    f = transform_to_kdl(transform) * PyKDL.Frame(
+        PyKDL.Rotation.Quaternion(pose.pose.pose.orientation.x,
+                                  pose.pose.pose.orientation.y,
+                                  pose.pose.pose.orientation.z,
+                                  pose.pose.pose.orientation.w),
+        PyKDL.Vector(pose.pose.pose.position.x,
+                     pose.pose.pose.position.y,
+                     pose.pose.pose.position.z))
     res = PoseWithCovarianceStamped()
     res.pose.pose.position.x = f.p[0]
     res.pose.pose.position.y = f.p[1]
     res.pose.pose.position.z = f.p[2]
-    (res.pose.pose.orientation.x, res.pose.pose.orientation.y, res.pose.pose.orientation.z, res.pose.pose.orientation.w) = f.M.GetQuaternion()
+    (res.pose.pose.orientation.x,
+     res.pose.pose.orientation.y,
+     res.pose.pose.orientation.z,
+     res.pose.pose.orientation.w) = f.M.GetQuaternion()
     res.pose.covariance = pose.pose.covariance
     res.header = transform.header
     return res
-tf2_ros.TransformRegistration().add(PoseWithCovarianceStamped, do_transform_pose_with_covariance_stamped)
+
+
+tf2_ros.TransformRegistration().add(PoseWithCovarianceStamped,
+                                    do_transform_pose_with_covariance_stamped)