fixed CI

Author: AtsushiSakai

PathPlanning/Dijkstra/dijkstra.py

@@ -24,11 +24,6 @@ def __init__(self, ox, oy, resolution, robot_radius):
         rr: robot radius[m]
         """
 
-        self.resolution = resolution
-        self.robot_radius = robot_radius
-        self.calc_obstacle_map(ox, oy)
-        self.motion = self.get_motion_model()
-
         self.min_x = None
         self.min_y = None
         self.max_x = None
@@ -37,6 +32,11 @@ def __init__(self, ox, oy, resolution, robot_radius):
         self.y_width = None
         self.obstacle_map = None
 
+        self.resolution = resolution
+        self.robot_radius = robot_radius
+        self.calc_obstacle_map(ox, oy)
+        self.motion = self.get_motion_model()
+
     class Node:
         def __init__(self, x, y, cost, parent):
             self.x = x  # index of grid
@@ -151,11 +151,11 @@ def verify_node(self, node):
 
         if px < self.min_x:
             return False
-        elif py < self.min_y:
+        if py < self.min_y:
             return False
-        elif px >= self.max_x:
+        if px >= self.max_x:
             return False
-        elif py >= self.max_y:
+        if py >= self.max_y:
             return False
 
         if self.obstacle_map[node.x][node.y]:
@@ -169,15 +169,15 @@ def calc_obstacle_map(self, ox, oy):
         self.min_y = round(min(oy))
         self.max_x = round(max(ox))
         self.max_y = round(max(oy))
-        print("minx:", self.min_x)
-        print("miny:", self.min_y)
-        print("maxx:", self.max_x)
-        print("maxy:", self.max_y)
+        print("min_x:", self.min_x)
+        print("min_y:", self.min_y)
+        print("max_x:", self.max_x)
+        print("max_y:", self.max_y)
 
         self.x_width = round((self.max_x - self.min_x) / self.resolution)
         self.y_width = round((self.max_y - self.min_y) / self.resolution)
-        print("xwidth:", self.x_width)
-        print("ywidth:", self.y_width)
+        print("x_width:", self.x_width)
+        print("y_width:", self.y_width)
 
         # obstacle map generation
         self.obstacle_map = [[False for _ in range(self.y_width)]

PathPlanning/VisibilityRoadMap/geometry.py

@@ -18,10 +18,9 @@ def orientation(p, q, r):
                     float(q.x - p.x) * (r.y - q.y))
             if val > 0:
                 return 1
-            elif val < 0:
+            if val < 0:
                 return 2
-            else:
-                return 0
+            return 0
 
         # Find the 4 orientations required for
         # the general and special cases

PathPlanning/VisibilityRoadMap/visibility_road_map.py

@@ -204,7 +204,8 @@ def main():
     if show_animation:  # pragma: no cover
         plt.plot(sx, sy, "or")
         plt.plot(gx, gy, "ob")
-        [ob.plot() for ob in obstacles]
+        for ob in obstacles:
+            ob.plot()
         plt.pause(1.0)
 
     rx, ry = VisibilityRoadMap(robot_radius, do_plot=show_animation).planning(

PathPlanning/VoronoiRoadMap/dijkstra_search.py

@@ -121,7 +121,7 @@ def has_node_in_set(self, target_set, node):
         return False
 
     def find_id(self, node_x_list, node_y_list, target_node):
-        for i in range(len(node_x_list)):
+        for i, _ in enumerate(node_x_list):
             if self.is_same_node_with_xy(node_x_list[i], node_y_list[i],
                                          target_node):
                 return i