fix github scanning alerts (AtsushiSakai#784)

Author: AtsushiSakai

ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py

@@ -45,7 +45,7 @@ def two_joint_arm(GOAL_TH=0.0, theta1=0.0, theta2=0.0):
             if x is not None and y is not None:
                 x_prev = x
                 y_prev = y
-            if np.sqrt(x**2 + y**2) > (l1 + l2):
+            if np.hypot(x, y) > (l1 + l2):
                 theta2_goal = 0
             else:
                 theta2_goal = np.arccos(

Bipedal/bipedal_planner/bipedal_planner.py

@@ -47,7 +47,6 @@ def walk(self, t_sup=0.8, z_c=0.8, a=10, b=1, plot=False):
             return
 
         # set up plotter
-        com_trajectory_for_plot, ax = None, None
         if plot:
             fig = plt.figure()
             ax = Axes3D(fig)

PathPlanning/HybridAStar/dynamic_programming_heuristic.py

@@ -150,7 +150,7 @@ def calc_obstacle_map(ox, oy, resolution, vr):
             y = iy + min_y
             #  print(x, y)
             for iox, ioy in zip(ox, oy):
-                d = math.sqrt((iox - x) ** 2 + (ioy - y) ** 2)
+                d = math.hypot(iox - x, ioy - y)
                 if d <= vr / resolution:
                     obstacle_map[ix][iy] = True
                     break

PathPlanning/InformedRRTStar/informed_rrt_star.py

@@ -192,7 +192,7 @@ def get_path_len(path):
 
     @staticmethod
     def line_cost(node1, node2):
-        return math.sqrt((node1.x - node2.x) ** 2 + (node1.y - node2.y) ** 2)
+        return math.hypot(node1.x - node2.x, node1.y - node2.y)
 
     @staticmethod
     def get_nearest_list_index(nodes, rnd):
@@ -222,8 +222,7 @@ def rewire(self, newNode, nearInds):
         for i in nearInds:
             nearNode = self.node_list[i]
 
-            d = math.sqrt((nearNode.x - newNode.x) ** 2
-                          + (nearNode.y - newNode.y) ** 2)
+            d = math.hypot(nearNode.x - newNode.x, nearNode.y - newNode.y)
 
             s_cost = newNode.cost + d
 

PathPlanning/LQRPlanner/lqr_planner.py

@@ -47,7 +47,7 @@ def lqr_planning(self, sx, sy, gx, gy, show_animation=True):
             rx.append(x[0, 0] + gx)
             ry.append(x[1, 0] + gy)
 
-            d = math.sqrt((gx - rx[-1]) ** 2 + (gy - ry[-1]) ** 2)
+            d = math.hypot(gx - rx[-1], gy - ry[-1])
             if d <= self.GOAL_DIST:
                 found_path = True
                 break

PathPlanning/LQRRRTStar/lqr_rrt_star.py

@@ -179,7 +179,7 @@ def sample_path(self, wx, wy, step):
         dx = np.diff(px)
         dy = np.diff(py)
 
-        clen = [math.sqrt(idx ** 2 + idy ** 2) for (idx, idy) in zip(dx, dy)]
+        clen = [math.hypot(idx, idy) for (idx, idy) in zip(dx, dy)]
 
         return px, py, clen
 

PathPlanning/RRT/rrt_with_pathsmoothing.py

@@ -23,7 +23,7 @@ def get_path_length(path):
     for i in range(len(path) - 1):
         dx = path[i + 1][0] - path[i][0]
         dy = path[i + 1][1] - path[i][1]
-        d = math.sqrt(dx * dx + dy * dy)
+        d = math.hypot(dx, dy)
         le += d
 
     return le
@@ -36,7 +36,7 @@ def get_target_point(path, targetL):
     for i in range(len(path) - 1):
         dx = path[i + 1][0] - path[i][0]
         dy = path[i + 1][1] - path[i][1]
-        d = math.sqrt(dx * dx + dy * dy)
+        d = math.hypot(dx, dy)
         le += d
         if le >= targetL:
             ti = i - 1
@@ -67,7 +67,7 @@ def line_collision_check(first, second, obstacleList):
         return False
 
     for (ox, oy, size) in obstacleList:
-        d = abs(a * ox + b * oy + c) / (math.sqrt(a * a + b * b))
+        d = abs(a * ox + b * oy + c) / (math.hypot(a, b))
         if d <= size:
             return False
 

PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py

@@ -57,13 +57,13 @@ def straight_left_straight(x, y, phi):
         xd = - y / math.tan(phi) + x
         t = xd - math.tan(phi / 2.0)
         u = phi
-        v = math.sqrt((x - xd) ** 2 + y ** 2) - math.tan(phi / 2.0)
+        v = math.hypot(x - xd, y) - math.tan(phi / 2.0)
         return True, t, u, v
     elif y < 0.0 < phi < math.pi * 0.99:
         xd = - y / math.tan(phi) + x
         t = xd - math.tan(phi / 2.0)
         u = phi
-        v = -math.sqrt((x - xd) ** 2 + y ** 2) - math.tan(phi / 2.0)
+        v = -math.hypot(x - xd, y) - math.tan(phi / 2.0)
         return True, t, u, v
 
     return False, 0.0, 0.0, 0.0
@@ -103,7 +103,7 @@ def straight_curve_straight(x, y, phi, paths, step_size):
 
 
 def polar(x, y):
-    r = math.sqrt(x ** 2 + y ** 2)
+    r = math.hypot(x, y)
     theta = math.atan2(y, x)
     return r, theta