[Python] format

python/__init__.py

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

python/test/test.py

@@ -1,80 +1,76 @@
-from spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint
-
 from numpy import matrix
 from numpy.linalg import norm
 
-waypoints = matrix([[1.,2.,3.],[4.,5.,6.]]).transpose()
-waypoints6 = matrix([[1.,2.,3.,7.,5.,5.],[4.,5.,6.,4.,5.,6.]]).transpose()
-time_waypoints = matrix([0.,1.])
+from spline import (bezier, bezier6, curve_constraints, exact_cubic, polynom, spline_deriv_constraint)
+
+waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
+waypoints6 = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).transpose()
+time_waypoints = matrix([0., 1.])
 
-#testing bezier curve
+# testing bezier curve
 a = bezier6(waypoints6)
 a = bezier(waypoints, -1., 3.)
 
-assert(a.degree == a.nbWaypoints -1)
+assert (a.degree == a.nbWaypoints - 1)
 a.min()
 a.max()
 a(0.4)
-assert((a.derivate(0.4,0) == a(0.4)).all())
-a.derivate(0.4,2)
+assert ((a.derivate(0.4, 0) == a(0.4)).all())
+a.derivate(0.4, 2)
 a = a.compute_derivate(100)
 
 prim = a.compute_primitive(1)
 
 for i in range(10):
-	t = float(i) / 10.
-	assert(a(t) == prim.derivate(t,1)).all()
-assert(prim(0) == matrix([0.,0.,0.])).all()
+    t = float(i) / 10.
+    assert (a(t) == prim.derivate(t, 1)).all()
+assert (prim(0) == matrix([0., 0., 0.])).all()
 
 prim = a.compute_primitive(2)
 for i in range(10):
-	t = float(i) / 10.
-	assert(a(t) == prim.derivate(t,2)).all()
-assert(prim(0) == matrix([0.,0.,0.])).all()
-
-
-#testing bezier with constraints
-c = curve_constraints();
-c.init_vel = matrix([0.,1.,1.]);
-c.end_vel  = matrix([0.,1.,1.]);
-c.init_acc = matrix([0.,1.,-1.]);
-c.end_acc  = matrix([0.,100.,1.]);
-
-
-a = bezier(waypoints,c)
-assert norm(a.derivate(0,1) - c.init_vel) < 1e-10
-assert norm(a.derivate(1,2) - c.end_acc) < 1e-10
-
-
-#testing polynom function
+    t = float(i) / 10.
+    assert (a(t) == prim.derivate(t, 2)).all()
+assert (prim(0) == matrix([0., 0., 0.])).all()
+
+# testing bezier with constraints
+c = curve_constraints()
+c.init_vel = matrix([0., 1., 1.])
+c.end_vel = matrix([0., 1., 1.])
+c.init_acc = matrix([0., 1., -1.])
+c.end_acc = matrix([0., 100., 1.])
+
+a = bezier(waypoints, c)
+assert norm(a.derivate(0, 1) - c.init_vel) < 1e-10
+assert norm(a.derivate(1, 2) - c.end_acc) < 1e-10
+
+# testing polynom function
 a = polynom(waypoints)
 a = polynom(waypoints, -1., 3.)
 a.min()
 a.max()
 a(0.4)
-assert((a.derivate(0.4,0) == a(0.4)).all())
-a.derivate(0.4,2)
+assert ((a.derivate(0.4, 0) == a(0.4)).all())
+a.derivate(0.4, 2)
 
-#testing exact_cubic function
+# testing exact_cubic function
 a = exact_cubic(waypoints, time_waypoints)
 a.min()
 a.max()
 a(0.4)
-assert((a.derivate(0.4,0) == a(0.4)).all())
-a.derivate(0.4,2)
-
-#testing spline_deriv_constraints
-c = curve_constraints();
-c.init_vel; 
-c.end_vel;
-c.init_acc;
-c.end_acc;
-
-
-c.init_vel = matrix([0.,1.,1.]);
-c.end_vel  = matrix([0.,1.,1.]);
-c.init_acc = matrix([0.,1.,1.]);
-c.end_acc  = matrix([0.,1.,1.]);
-
-a = spline_deriv_constraint (waypoints, time_waypoints)
-a = spline_deriv_constraint (waypoints, time_waypoints, c)
+assert ((a.derivate(0.4, 0) == a(0.4)).all())
+a.derivate(0.4, 2)
+
+# testing spline_deriv_constraints
+c = curve_constraints()
+c.init_vel
+c.end_vel
+c.init_acc
+c.end_acc
+
+c.init_vel = matrix([0., 1., 1.])
+c.end_vel = matrix([0., 1., 1.])
+c.init_acc = matrix([0., 1., 1.])
+c.end_acc = matrix([0., 1., 1.])
+
+a = spline_deriv_constraint(waypoints, time_waypoints)
+a = spline_deriv_constraint(waypoints, time_waypoints, c)