diff --git a/navipy/comparing/test.py b/navipy/comparing/test.py
index f6ea1a475771edd78443c6722023c31afebaeb3e..b7e28353cd8d0032d5e762aadc335676e1891635 100644
--- a/navipy/comparing/test.py
+++ b/navipy/comparing/test.py
@@ -1,7 +1,7 @@
import unittest
import numpy as np
-import navipy.database as database
-import navipy.comparing as comparing
+from navipy import database
+from navipy import comparing
from navipy.scene import is_numeric_array
import pkg_resources
diff --git a/navipy/database/__init__.py b/navipy/database/__init__.py
index 973fa1d1a0c90e8803cc507a12967322de8348e9..faf8eff5fcfc3d4f503bd67d90b2e01b9340d24f 100644
--- a/navipy/database/__init__.py
+++ b/navipy/database/__init__.py
@@ -8,7 +8,7 @@ import pandas as pd
import sqlite3
import io
from navipy.scene import is_numeric_array, check_scene
-import navipy.maths.constants as mconst
+from navipy.maths import constants as mconst
from navipy.trajectories import Trajectory
import logging
import numbers
diff --git a/navipy/database/test.py b/navipy/database/test.py
index 6369748430e6725abd035613954c9c526b19e6de..1dd96048e3a7a835cab7a38f4880299299ad827f 100644
--- a/navipy/database/test.py
+++ b/navipy/database/test.py
@@ -2,7 +2,7 @@ import unittest
import sqlite3
import numpy as np
import pandas as pd
-import navipy.database as database
+from navipy import database
# from navipy.processing.tools import is_numeric_array
import pkg_resources
import tempfile
diff --git a/navipy/maths/euler.py b/navipy/maths/euler.py
index 6e82c827c4d36b2fa165c2cfddafd11b166d82c7..5d5d89082f6d841bec9602da90673536750003a4 100644
--- a/navipy/maths/euler.py
+++ b/navipy/maths/euler.py
@@ -1,5 +1,5 @@
import numpy as np
-import navipy.maths.quaternion as quat
+from navipy.maths import quaternion as quat
from navipy.scene import is_numeric_array
import numbers
from navipy.maths.constants import _AXES2TUPLE
diff --git a/navipy/maths/homogeneous_transformations.py b/navipy/maths/homogeneous_transformations.py
index d0db3a15c187457cc6747d0655e5500fc16213e0..62d16650de452037ab2b1b18fab5c81e52748e99 100644
--- a/navipy/maths/homogeneous_transformations.py
+++ b/navipy/maths/homogeneous_transformations.py
@@ -1,9 +1,9 @@
"""
"""
import numpy as np
-import navipy.maths.constants as constants
-import navipy.maths.euler as euler
-import navipy.maths.quaternion as quaternion
+from navipy.maths import constants
+from navipy.maths import euler
+from navipy.maths import quaternion
from navipy.maths.tools import vector_norm
from navipy.maths.tools import unit_vector
diff --git a/navipy/maths/quaternion.py b/navipy/maths/quaternion.py
index 3df5b277adb90bf35c04c09c8694dd80ee349a61..0d03d277cdcb90667ac7eaea1aadd91f030d803d 100644
--- a/navipy/maths/quaternion.py
+++ b/navipy/maths/quaternion.py
@@ -3,7 +3,7 @@
"""
import numpy as np
-import navipy.maths.constants as constants
+from navipy.maths import constants
from navipy.maths.tools import vector_norm
@@ -21,8 +21,8 @@ def qat(a, n):
(2006): p. 17 (6.12)
"""
tmp = np.zeros((4))
- tmp[0] = np.cos((1/2)*a)
- tmp[1:4] = np.dot(n, np.sin((1/2)*a))
+ tmp[0] = np.cos((1 / 2) * a)
+ tmp[1:4] = np.dot(n, np.sin((1 / 2) * a))
return tmp
@@ -63,8 +63,8 @@ def about_axis(angle, axis):
q = np.array([0.0, axis[0], axis[1], axis[2]])
qlen = vector_norm(q)
if qlen > constants._EPS:
- q *= np.sin(angle/2.0)/qlen
- q[0] = np.cos(angle/2.0)
+ q *= np.sin(angle / 2.0) / qlen
+ q[0] = np.cos(angle / 2.0)
return q
@@ -79,9 +79,9 @@ def matrix(quaternion):
(2006): p. 15 (6.4)
"""
q = np.array(quaternion, dtype=np.float64, copy=True)
- qnorm = np.sqrt(q[0]**2+q[1]**2+q[2]**2+q[3]**2)
+ qnorm = np.sqrt(q[0]**2 + q[1]**2 + q[2]**2 + q[3]**2)
if qnorm != 1:
- q = q/qnorm
+ q = q / qnorm
q0 = q[0]
q1 = q[1]
q2 = q[2]
@@ -90,9 +90,11 @@ def matrix(quaternion):
mat = np.identity(4)
# According to equation 125
mat[:3, :3] = np.array([
- [q0**2 + q1**2 - q2**2 - q3**2, 2*q1*q2 + 2*q0*q3, 2*q1*q3 - 2*q0*q2],
- [2*q1*q2 - 2*q0*q3, q0**2 - q1**2 + q2**2 - q3**2, 2*q2*q3 + 2*q0*q1],
- [2*q1*q3 + 2*q0*q2, 2*q2*q3 - 2*q0*q1, q0**2 - q1**2 - q2**2 + q3**2]])
+ [q0**2 + q1**2 - q2**2 - q3**2, 2 * q1 * q2 +
+ 2 * q0 * q3, 2 * q1 * q3 - 2 * q0 * q2],
+ [2 * q1 * q2 - 2 * q0 * q3, q0**2 - q1**2 +
+ q2**2 - q3**2, 2 * q2 * q3 + 2 * q0 * q1],
+ [2 * q1 * q3 + 2 * q0 * q2, 2 * q2 * q3 - 2 * q0 * q1, q0**2 - q1**2 - q2**2 + q3**2]])
return mat
@@ -111,41 +113,41 @@ def from_matrix(matrix):
# Split cases according to equation 145
if (r[1, 1] >= -r[2, 2]) and (r[0, 0] >= -r[1, 1]) and (r[0, 0] >= -r[2, 2]):
# equation 141
- return (1/2)*np.array([np.sqrt(1 + r[0, 0] + r[1, 1] + r[2, 2]),
- (r[1, 2] - r[2, 1]) /
- np.sqrt(1 + r[0, 0] + r[1, 1] + r[2, 2]),
- (r[2, 0] - r[0, 2]) /
- np.sqrt(1 + r[0, 0] + r[1, 1] + r[2, 2]),
- (r[0, 1] - r[1, 0]) /
- np.sqrt(1 + r[0, 0] + r[1, 1] + r[2, 2])])
+ return (1 / 2) * np.array([np.sqrt(1 + r[0, 0] + r[1, 1] + r[2, 2]),
+ (r[1, 2] - r[2, 1]) /
+ np.sqrt(1 + r[0, 0] + r[1, 1] + r[2, 2]),
+ (r[2, 0] - r[0, 2]) /
+ np.sqrt(1 + r[0, 0] + r[1, 1] + r[2, 2]),
+ (r[0, 1] - r[1, 0]) /
+ np.sqrt(1 + r[0, 0] + r[1, 1] + r[2, 2])])
if (r[1, 1] < -r[2, 2]) and (r[0, 0] > r[1, 1]) and (r[0, 0] > r[2, 2]):
# equation 142
- return (1/2)*np.array([(r[1, 2] - r[2, 1]) /
- np.sqrt(1 + r[0, 0] - r[1, 1] - r[2, 2]),
- np.sqrt(1 + r[0, 0] - r[1, 1] - r[2, 2]),
- (r[0, 1] + r[1, 0]) /
- np.sqrt(1 + r[0, 0] - r[1, 1] - r[2, 2]),
- (r[2, 0] + r[0, 2]) /
- np.sqrt(1 + r[0, 0] - r[1, 1] - r[2, 2])])
+ return (1 / 2) * np.array([(r[1, 2] - r[2, 1]) /
+ np.sqrt(1 + r[0, 0] - r[1, 1] - r[2, 2]),
+ np.sqrt(1 + r[0, 0] - r[1, 1] - r[2, 2]),
+ (r[0, 1] + r[1, 0]) /
+ np.sqrt(1 + r[0, 0] - r[1, 1] - r[2, 2]),
+ (r[2, 0] + r[0, 2]) /
+ np.sqrt(1 + r[0, 0] - r[1, 1] - r[2, 2])])
if (r[1, 1] > r[2, 2]) and (r[0, 0] < r[1, 1]) and (r[0, 0] < -r[2, 2]):
# equation 143
- return (1/2)*np.array([(r[2, 0] - r[0, 2]) /
- np.sqrt(1 - r[0, 0] + r[1, 1] - r[2, 2]),
- (r[0, 1] + r[1, 0]) /
- np.sqrt(1 - r[0, 0] + r[1, 1] - r[2, 2]),
- np.sqrt(1 - r[0, 0] + r[1, 1] - r[2, 2]),
- (r[1, 2] + r[2, 1]) /
- np.sqrt(1 - r[0, 0] + r[1, 1] - r[2, 2])])
+ return (1 / 2) * np.array([(r[2, 0] - r[0, 2]) /
+ np.sqrt(1 - r[0, 0] + r[1, 1] - r[2, 2]),
+ (r[0, 1] + r[1, 0]) /
+ np.sqrt(1 - r[0, 0] + r[1, 1] - r[2, 2]),
+ np.sqrt(1 - r[0, 0] + r[1, 1] - r[2, 2]),
+ (r[1, 2] + r[2, 1]) /
+ np.sqrt(1 - r[0, 0] + r[1, 1] - r[2, 2])])
if (r[1, 1] < r[2, 2]) and (r[0, 0] < -r[1, 1]) and (r[0, 0] < r[2, 2]):
# equation 144
- return (1/2)*np.array([(r[0, 1] - r[1, 0]) /
- np.sqrt(1 - r[0, 0] - r[1, 1] + r[2, 2]),
- (r[2, 0] + r[0, 2]) /
- np.sqrt(1 - r[0, 0] - r[1, 1] + r[2, 2]),
- (r[1, 2] + r[2, 1]) /
- np.sqrt(1 - r[0, 0] - r[1, 1] + r[2, 2]),
- np.sqrt(1 - r[0, 0] - r[1, 1] + r[2, 2])])
+ return (1 / 2) * np.array([(r[0, 1] - r[1, 0]) /
+ np.sqrt(1 - r[0, 0] - r[1, 1] + r[2, 2]),
+ (r[2, 0] + r[0, 2]) /
+ np.sqrt(1 - r[0, 0] - r[1, 1] + r[2, 2]),
+ (r[1, 2] + r[2, 1]) /
+ np.sqrt(1 - r[0, 0] - r[1, 1] + r[2, 2]),
+ np.sqrt(1 - r[0, 0] - r[1, 1] + r[2, 2])])
def multiply(quaternion1, quaternion0):
@@ -191,10 +193,10 @@ def diff(quaternion0, quaternion1):
""" The axis and angle between two quaternions
"""
q = multiply(quaternion1, conjugate(quaternion0))
- length = np.sum(np.sqrt(q[1:4]*q[1:4]))
- angle = 2*np.arctan2(length, q[0])
+ length = np.sum(np.sqrt(q[1:4] * q[1:4]))
+ angle = 2 * np.arctan2(length, q[0])
if np.isclose(length, 0):
axis = np.array([1, 0, 0])
else:
- axis = q[1:4]/length
+ axis = q[1:4] / length
return axis, angle
diff --git a/navipy/maths/random.py b/navipy/maths/random.py
index e7b4b420a122427fd65fd96c8b785dcd6cfebadf..984d264720f1e1e1a5cb96a0303c3b85e27d5837 100644
--- a/navipy/maths/random.py
+++ b/navipy/maths/random.py
@@ -1,6 +1,6 @@
import numpy as np
-import navipy.maths.quaternion as quat
-import navipy.maths.constants as constants
+from navipy.maths import quaternion as quat
+from navipy.maths import constants
from navipy.maths.tools import unit_vector
diff --git a/navipy/maths/test_euler.py b/navipy/maths/test_euler.py
index caa453583cdc872ce2c114afb48f22d16e5968e7..1fa1c258b095878f6da493e6b9f9a9685583a09a 100644
--- a/navipy/maths/test_euler.py
+++ b/navipy/maths/test_euler.py
@@ -1,9 +1,8 @@
import numpy as np
-import navipy.maths.euler as euler
+from navipy.maths import euler
from navipy.maths.constants import _AXES2TUPLE
import unittest
from navipy.maths.euler import angle_rate_matrix
-from navipy.maths.euler import angular_velocity
from navipy.maths.euler import matrix
from navipy.maths.euler import R1, R2, R3
diff --git a/navipy/maths/test_homogeneous_transformations.py b/navipy/maths/test_homogeneous_transformations.py
index babb4280aec4489c37d528a42ec0c56ee9ac2839..89dca55c78d433319c5a9d80d644d6a08a316e9f 100644
--- a/navipy/maths/test_homogeneous_transformations.py
+++ b/navipy/maths/test_homogeneous_transformations.py
@@ -1,8 +1,8 @@
import unittest
import numpy as np
-import navipy.maths.homogeneous_transformations as ht
-import navipy.maths.random as random
-import navipy.maths.euler as euler
+from navipy.maths import homogeneous_transformations as ht
+from navipy.maths import random
+from navipy.maths import euler
class TestHT(unittest.TestCase):
diff --git a/navipy/maths/test_quaternion.py b/navipy/maths/test_quaternion.py
index 93f868e4f85985e8894c31bcd3576cfb189c1d21..ef07783315c6195f6168da85508862b47e7bbea9 100644
--- a/navipy/maths/test_quaternion.py
+++ b/navipy/maths/test_quaternion.py
@@ -1,8 +1,8 @@
import unittest
import numpy as np
-import navipy.maths.homogeneous_transformations as ht
-import navipy.maths.quaternion as quat
-import navipy.maths.random as random
+from navipy.maths import homogeneous_transformations as ht
+from navipy.maths import quaternion as quat
+from navipy.maths import random as random
class TestQuaternions(unittest.TestCase):
diff --git a/navipy/maths/test_random.py b/navipy/maths/test_random.py
index be32b6c880c113c96b8b7b272f237a4e0148c7b7..d2625ee15606bc42e535c62a75e8d731349d24d4 100644
--- a/navipy/maths/test_random.py
+++ b/navipy/maths/test_random.py
@@ -1,6 +1,6 @@
import unittest
import numpy as np
-import navipy.maths.random as random
+from navipy.maths import random
from navipy.maths.tools import vector_norm
diff --git a/navipy/moving/agent.py b/navipy/moving/agent.py
index cad764834c812a531e2f44a9f9312dab30874042..d8aa92018d06a25d72f07f5d21d4bcbc2f9016d1 100644
--- a/navipy/moving/agent.py
+++ b/navipy/moving/agent.py
@@ -27,7 +27,7 @@ import networkx as nx
import multiprocessing
from multiprocessing import Queue, JoinableQueue, Process
import inspect
-import navipy.moving.maths as navimomath
+from navipy.moving import maths as navimomath
from navipy.database import DataBase
import time
import os
@@ -427,12 +427,13 @@ the agent motion, or
for _ in range(nbnodes):
res = results_queue.get(timeout=timeout)
self.velocities.loc[res.name, res.index] = res
- if (nline-prev_nline) > blocksize:
- t_elapse = time.time()-t_start
- t_peritem = t_elapse/nline
- remain = nbnodes-nline
+ if (nline - prev_nline) > blocksize:
+ t_elapse = time.time() - t_start
+ t_peritem = t_elapse / nline
+ remain = nbnodes - nline
print('Computed {} in {}'.format(nline, t_elapse))
- print('Remain {}, done in {}'.format(remain, remain*t_peritem))
+ print('Remain {}, done in {}'.format(
+ remain, remain * t_peritem))
if filename is not None:
self.velocities.to_hdf(filename, key='velocities')
prev_nline = nline
diff --git a/navipy/moving/test_agent.py b/navipy/moving/test_agent.py
index da7dd0f55fea928a5da9802dbe6ebf9c3a4593ca..e8ab767cb2e90877693ea9f534212e29d50ac64d 100644
--- a/navipy/moving/test_agent.py
+++ b/navipy/moving/test_agent.py
@@ -4,8 +4,8 @@ Test of agent
import numpy as np
import pandas as pd
import networkx as nx
-import navipy.moving.agent as naviagent
-import navipy.database as navidb
+from navipy.moving import agent as naviagent
+from navipy import database as navidb
from navipy import Brain
import pkg_resources
import warnings
diff --git a/navipy/moving/test_maths.py b/navipy/moving/test_maths.py
index 75fbc8eef6917163133f4e0045fc4fd44a689f96..cae640b593f05ea3b1867d4f9133a35bd54cbec4 100644
--- a/navipy/moving/test_maths.py
+++ b/navipy/moving/test_maths.py
@@ -3,7 +3,7 @@ Test of maths
"""
import numpy as np
import pandas as pd
-import navipy.moving.maths as navimaths
+from navipy.moving import maths as navimaths
import unittest
diff --git a/navipy/processing/test.py b/navipy/processing/test.py
index 94a61ee986fadeb1ba03e4ad4072c2e8c4b50ffb..23b37ac162e76704053778b51b841cadca954e9a 100644
--- a/navipy/processing/test.py
+++ b/navipy/processing/test.py
@@ -1,7 +1,7 @@
import unittest
import numpy as np
-import navipy.database as database
-import navipy.processing.pcode as pcode
+from navipy import database as database
+from navipy.processing import pcode
from navipy.scene import is_numeric_array
from navipy import unittestlogger
import pkg_resources
@@ -61,7 +61,7 @@ class TestCase(unittest.TestCase):
image = self.mydb.scene(posorient=posorient2)
# not working case empty
- posorient2 = posorients.loc[13, :]*np.nan
+ posorient2 = posorients.loc[13, :] * np.nan
with self.assertRaises(Exception):
image = self.mydb.scene(posorient=posorient2)
@@ -319,12 +319,12 @@ class TestCase(unittest.TestCase):
# test if error is throught for elevation or azimuth out of range
# check elevation, should be in [-pi*2;pi*2]
testdirections = np.zeros((180, 360, 2))
- testdirections[10, 15, 0] = -np.pi*2 - 0.001
+ testdirections[10, 15, 0] = -np.pi * 2 - 0.001
with self.assertRaises(ValueError):
my_pcv = pcode.pcv(my_scene, testdirections)
testdirections = np.zeros((180, 360, 2))
- testdirections[10, 15, 0] = np.pi*2 + 0.001
+ testdirections[10, 15, 0] = np.pi * 2 + 0.001
with self.assertRaises(ValueError):
my_pcv = pcode.pcv(my_scene, testdirections)
@@ -335,7 +335,7 @@ class TestCase(unittest.TestCase):
my_pcv = pcode.pcv(my_scene, testdirections)
testdirections = np.zeros((180, 360, 2))
- testdirections[10, 15, 1] = 2*np.pi + 0.001
+ testdirections[10, 15, 1] = 2 * np.pi + 0.001
with self.assertRaises(ValueError):
my_pcv = pcode.pcv(my_scene, testdirections)
diff --git a/navipy/processing/test_mcode.py b/navipy/processing/test_mcode.py
index b756709b0f1d3283865eec83da00e1c50b467e40..c8afd050156bc45cefc0b9c183f20a11139e3645 100644
--- a/navipy/processing/test_mcode.py
+++ b/navipy/processing/test_mcode.py
@@ -1,6 +1,6 @@
import unittest
import numpy as np
-import navipy.processing.mcode as mcode
+from navipy.processing import mcode
# import matplotlib.pyplot as plt
@@ -306,8 +306,8 @@ class TestCase(unittest.TestCase):
self.hp2.update()
achigh2[i] = self.hp2.Input[0, 0]
# plt.scatter(i, self.hp2.Input[0, 0], c='g')
- hlow[i] = 1-np.exp(-(i/1600)/self.tau)
- hhigh[i] = np.exp(-(i/800)/self.tau)
+ hlow[i] = 1 - np.exp(-(i / 1600) / self.tau)
+ hhigh[i] = np.exp(-(i / 800) / self.tau)
# plt.plot(range(300), step)
# plt.plot(self.lp.Input[0:300,0])#hlow[0:200], c='r')
# plt.plot(range(100, 300), hhigh[0:200], c='b')
@@ -514,8 +514,10 @@ class TestCase(unittest.TestCase):
self.hp2.update()
achigh2[i] = self.hp2.Input[0, 0]
# plt.scatter(i, self.hp2.Input[0, 0], c='g')
- hlow[i] = ((1/420)/self.tau)*np.exp(-((i-30)/1490)/self.tau)
- hhigh[i] = step[i]-((1/80)/self.tau)*np.exp(-((i-30)/800)/self.tau)
+ hlow[i] = ((1 / 420) / self.tau) * \
+ np.exp(-((i - 30) / 1490) / self.tau)
+ hhigh[i] = step[i] - ((1 / 80) / self.tau) * \
+ np.exp(-((i - 30) / 800) / self.tau)
# print("achigh2",np.transpose(achigh2))
# plt.plot(range(150), step)
# plt.plot( hlow[0:110], c='r')
diff --git a/navipy/processing/test_opticflow.py b/navipy/processing/test_opticflow.py
index 0b363f30b30e8d955c7801e05a85c0e45600716c..feb9630dadf8e77074d2b3fc10e300d7057c9cfa 100644
--- a/navipy/processing/test_opticflow.py
+++ b/navipy/processing/test_opticflow.py
@@ -1,5 +1,5 @@
import unittest
-import navipy.processing.mcode as mcode
+from navipy.processing import mcode
import pandas as pd
import numpy as np
from navipy.moving.agent import posorient_columns
@@ -23,9 +23,12 @@ class OpticFlowTest(unittest.TestCase):
'orientation'])
velocity = pd.Series(index=index_posvel, data=0)
# Most test are independent of orientation and position
- velocity.loc[(convention, 'alpha_0')] = 2*np.pi*(np.random.rand()-0.5)
- velocity.loc[(convention, 'alpha_1')] = np.pi*(np.random.rand()-0.5)
- velocity.loc[(convention, 'alpha_2')] = 2*np.pi*(np.random.rand()-0.5)
+ velocity.loc[(convention, 'alpha_0')] = 2 * \
+ np.pi * (np.random.rand() - 0.5)
+ velocity.loc[(convention, 'alpha_1')] = np.pi * \
+ (np.random.rand() - 0.5)
+ velocity.loc[(convention, 'alpha_2')] = 2 * \
+ np.pi * (np.random.rand() - 0.5)
velocity.loc[('location', 'x')] = np.random.randn()
velocity.loc[('location', 'y')] = np.random.randn()
velocity.loc[('location', 'z')] = np.random.randn()
@@ -33,7 +36,7 @@ class OpticFlowTest(unittest.TestCase):
self.convention = convention
# Init the viewing directions
- elevation = np.linspace(-np.pi/2, np.pi/2, 5)
+ elevation = np.linspace(-np.pi / 2, np.pi / 2, 5)
azimuth = np.linspace(-np.pi, np.pi, 11)
[ma, me] = np.meshgrid(azimuth, elevation)
imshape = me.shape
@@ -70,7 +73,7 @@ far from them.
np.testing.assert_allclose(rof, np.zeros_like(rof), atol=1e-7)
# Calculate second optic flow, with objects further away form agent
rof_further, hof_further, vof_further =\
- mcode.optic_flow(self.scene+1,
+ mcode.optic_flow(self.scene + 1,
self.viewing_directions,
vel)
hnorm_further = np.sqrt(hof_further**2 + vof_further**2)
diff --git a/navipy/scripts/blend_ongrid.py b/navipy/scripts/blend_ongrid.py
index 21072b3d43f66e29ae3e0c79b888f7a71d5d44eb..af7b22e2261e7e992a60b1547673539346cb4c1c 100644
--- a/navipy/scripts/blend_ongrid.py
+++ b/navipy/scripts/blend_ongrid.py
@@ -11,7 +11,7 @@ from navipy.scripts import parser_logger, args_to_logparam
import yaml
import numpy as np
from navipy.sensors.renderer import BlenderRender
-import navipy.maths.constants as mconst
+from navipy.maths import constants as mconst
from navipy import logger
@@ -19,7 +19,7 @@ importwithinblender = [
'import yaml',
'import numpy as np',
'from navipy.sensors.renderer import BlenderRender',
- 'import navipy.maths.constants as mconst',
+ 'from navipy.maths import constants as mconst',
'from navipy import logger']
@@ -31,7 +31,7 @@ def parser_blend_ongrid():
'navipy', 'resources/twocylinders_world.blend')
defaultconfig = pkg_resources.resource_filename(
'navipy', 'resources/configs/BlenderOnGridRender.yaml')
- defaultoutput = tempfile.NamedTemporaryFile().name+'.db'
+ defaultoutput = tempfile.NamedTemporaryFile().name + '.db'
parser.add_argument('--blender-world',
type=str,
default=defaultworld,
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index 59fe438266926bc856a8e7c5cd7372d4679b9f2f..ba57e1571ab5ae019b9b80ce3dfdcd5a2f20bbc7 100644
--- a/navipy/sensors/renderer.py
+++ b/navipy/sensors/renderer.py
@@ -17,7 +17,7 @@ import pkg_resources
from navipy.maths.homogeneous_transformations import compose_matrix
from navipy.maths.quaternion import matrix as quatmatrix
from navipy.scene import spherical_indeces
-import navipy.maths.constants as constants
+from navipy.maths import constants
from navipy.trajectories import Trajectory
from PIL import Image
from navipy.scene import check_scene
diff --git a/navipy/trajectories/__init__.py b/navipy/trajectories/__init__.py
index 8121f3c4b859af5682e72c302f74a4d2269aedc0..1f2856db9bb50e336d39739df671a43d2623f6c6 100644
--- a/navipy/trajectories/__init__.py
+++ b/navipy/trajectories/__init__.py
@@ -3,10 +3,10 @@
"""
import pandas as pd
import numpy as np
-import navipy.maths.constants as mconst
-import navipy.maths.quaternion as htq
-import navipy.maths.euler as hte
-import navipy.maths.homogeneous_transformations as htf
+from navipy.maths import constants as mconst
+from navipy.maths import quaternion as htq
+from navipy.maths import euler as hte
+from navipy.maths import homogeneous_transformations as htf
from navipy.errorprop import propagate_error
from .transformations import markers2translate, markers2euler
from navipy.tools.plots import get_color_dataframe
@@ -604,7 +604,7 @@ class Trajectory(pd.DataFrame):
"""
mytrajdiff = self.diff(periods=1)
d = dict(zip(mytrajdiff.columns.levels[1],
- ['d'+col for col in mytrajdiff.columns.levels[1]]))
+ ['d' + col for col in mytrajdiff.columns.levels[1]]))
mytrajdiff = mytrajdiff.rename(columns=d, level=1)
mytrajdiff.dropna().head()
return mytrajdiff
@@ -657,7 +657,7 @@ otherwise relative to the Nyquist frequency. Either a number or a pandas \
series.
"""
if self.sampling_rate > 0:
- nyquist = self.__sampling_rate/2
+ nyquist = self.__sampling_rate / 2
cutoff /= nyquist
if isinstance(order, (int, float)):
order = pd.Series(data=order, index=self.columns)
@@ -669,7 +669,7 @@ series.
for col in self.columns:
b, a = signal.butter(order.loc[col], cutoff.loc[col])
if padlen is None:
- padlen = 3*max(len(a), len(b))
+ padlen = 3 * max(len(a), len(b))
if trajno_nan.shape[0] <= padlen:
self.loc[indeces, col] *= np.nan
else:
diff --git a/navipy/trajectories/test_markers.py b/navipy/trajectories/test_markers.py
index 8840f8c30ca2d41e07b56611ac10ed89349fb07c..9e3e2b6990d7d887945393331c5965157b1a24e5 100644
--- a/navipy/trajectories/test_markers.py
+++ b/navipy/trajectories/test_markers.py
@@ -2,9 +2,8 @@ import unittest
import numpy as np
import pandas as pd
from navipy.maths.homogeneous_transformations import compose_matrix
-import navipy.trajectories.transformations as mtf
+from navipy.trajectories import transformations as mtf
from navipy.trajectories.triangle import Triangle
-from navipy.maths.constants import _AXES2TUPLE
class TestMarkersTransform(unittest.TestCase):
diff --git a/navipy/trajectories/test_trajectory.py b/navipy/trajectories/test_trajectory.py
index dfb571918fdc8cbfb5120f63562596022cec2b44..4e624d9f2f7f99e68a6b00926d2a3a2337cf4e5c 100644
--- a/navipy/trajectories/test_trajectory.py
+++ b/navipy/trajectories/test_trajectory.py
@@ -1,7 +1,7 @@
import unittest
import numpy as np
import pandas as pd
-import navipy.maths.constants as htconst
+from navipy.maths import constants as htconst
from navipy.trajectories import Trajectory
diff --git a/navipy/trajectories/tools.py b/navipy/trajectories/tools.py
index 84a8a29ffe0760cd643f35d50e0042745962818c..8864c6436abb9f3476e60d3b8d7a90d68800c0e7 100644
--- a/navipy/trajectories/tools.py
+++ b/navipy/trajectories/tools.py
@@ -5,7 +5,7 @@ from scipy import signal
from scipy.interpolate import interp1d
import pandas as pd
import numpy as np
-import navipy.tools as tratools
+from navipy import tools as tratools
import fastdtw
from navipy.trajectories import Trajectory
@@ -39,7 +39,7 @@ mean is used according to `Statistics on Sphere` Geoffrey S. Watson 1983.
for ii, group in pd.DataFrame(test[1]).groupby(0):
# average position
avg_traj[ii, 0:3] += np.mean(traj_2[group.loc[:, 1],
- 0:3], axis=0)/len(alltraj)
+ 0:3], axis=0) / len(alltraj)
# average angles
# see Statistics On Spheres", Geoffrey S. Watson,
# University of Arkansas Lecture Notes
diff --git a/navipy/trajectories/transformations.py b/navipy/trajectories/transformations.py
index 25af02e06430d0387c242ed678f18ef1a0bbdc8e..caf4b772d0dea36f30a54397ddcc31ba901a4708 100644
--- a/navipy/trajectories/transformations.py
+++ b/navipy/trajectories/transformations.py
@@ -2,9 +2,7 @@
"""
import numpy as np
from navipy.trajectories.triangle import Triangle
-import navipy.maths.homogeneous_transformations as ht
-import navipy.maths.euler as euler
-import navipy.maths.quaternion as qt
+from navipy.maths import homogeneous_transformations as ht
from scipy.optimize import minimize
_modes = []