Fix more LGTM alerts

Author: petercorke

spatialmath/DualQuaternion.py

@@ -343,7 +343,7 @@ def SE3(self):
 
 if __name__ == "__main__":  # pragma: no cover
 
-    from spatialmath import SE3, UnitDualQuaternion, DualQuaternion
+    from spatialmath import SE3, UnitDualQuaternion
 
     print(UnitDualQuaternion(SE3()))
     # import pathlib

spatialmath/base/animate.py

@@ -12,10 +12,8 @@
 import numpy as np
 import matplotlib.pyplot as plt
 from matplotlib import animation
-from numpy.lib.arraysetops import isin
 from spatialmath import base
-from collections.abc import Iterable, Generator, Iterator
-import time
+from collections.abc import Iterable, Iterator
 
 # global variable holds reference to FuncAnimation object, this is essential
 # for animatiion to work

spatialmath/base/graphics.py

@@ -71,7 +71,7 @@ def plot_text(pos, text=None, ax=None, color=None, **kwargs):
     if ax is None:
         ax = plt.gca()
 
-    handle = plt.text(pos[0], pos[1], text, color=color, **kwargs)
+    handle = ax.text(pos[0], pos[1], text, color=color, **kwargs)
     return [handle]
 
 
@@ -168,9 +168,9 @@ def plot_point(pos, marker="bs", text=None, ax=None, textargs=None, textcolor=No
     handles = []
     if isinstance(marker, (list, tuple)):
         for m in marker:
-            handles.append(plt.plot(x, y, m, **kwargs))
+            handles.append(ax.plot(x, y, m, **kwargs))
     else:
-        handles.append(plt.plot(x, y, marker, **kwargs))
+        handles.append(ax.plot(x, y, marker, **kwargs))
     if text is not None:
         try:
             xy = zip(x, y)
@@ -179,11 +179,11 @@ def plot_point(pos, marker="bs", text=None, ax=None, textargs=None, textcolor=No
         if isinstance(text, str):
             # simple string, but might have format chars
             for i, (x, y) in enumerate(xy):
-                handles.append(plt.text(x, y, " " + text.format(i), **textopts))
+                handles.append(ax.text(x, y, " " + text.format(i), **textopts))
         elif isinstance(text, (tuple, list)):
             for i, (x, y) in enumerate(xy):
                 handles.append(
-                    plt.text(
+                    ax.text(
                         x,
                         y,
                         " " + text[0].format(i, *[d[i] for d in text[1:]]),

spatialmath/base/numeric.py

@@ -1,6 +1,5 @@
 import numpy as np
 from spatialmath import base
-from functools import reduce
 
 # this is a collection of useful algorithms, not otherwise categorized
 
@@ -176,8 +175,6 @@ def bresenham(p0, p1, array=None):
 
     if array is not None:
         _ = array[y0, x0] + array[y1, x1]
-        
-    line = []
 
     dx = x1 - x0
     dy = y1 - y0

spatialmath/base/symbolic.py

@@ -16,7 +16,6 @@
 try:  # pragma: no cover
     # print('Using SymPy')
     import sympy
-    from sympy import S
 
     _symbolics = True
     symtype = (sympy.Expr,)
@@ -197,7 +196,7 @@ def zero():
 
     :seealso: :func:`sympy.S.Zero`
     """
-    return S.Zero
+    return sympy.S.Zero
 
 
 def one():
@@ -216,7 +215,7 @@ def one():
 
     :seealso: :func:`sympy.S.One`
     """
-    return S.One
+    return sympy.S.One
 
 
 def negative_one():
@@ -235,7 +234,7 @@ def negative_one():
 
     :seealso: :func:`sympy.S.NegativeOne`
     """
-    return S.NegativeOne
+    return sympy.S.NegativeOne
 
 
 def pi():
@@ -254,7 +253,7 @@ def pi():
 
     :seealso: :func:`sympy.S.Pi`
     """
-    return S.Pi
+    return sympy.S.Pi
 
 
 def simplify(x):

spatialmath/base/transforms2d.py

@@ -783,7 +783,6 @@ def points2tr2(p1, p2):
 # hack below to use points2tr above
 # use ClayFlannigan's improved data association
 from scipy.spatial import KDTree
-import numpy as np
 
 # reference or target 2xN
 # source  2xN

spatialmath/baseposematrix.py

@@ -15,7 +15,6 @@
 
 import spatialmath.base as base
 from spatialmath.baseposelist import BasePoseList
-from spatialmath.base import symbolic as sym
 
 _eps = np.finfo(np.float64).eps
 
@@ -572,7 +571,7 @@ def simplify(self):
         :SymPy: supported
         """
 
-        vf = np.vectorize(sym.simplify)
+        vf = np.vectorize(base.sym.simplify)
         return self.__class__([vf(x) for x in self.data], check=False)
 
     def stack(self):
@@ -904,7 +903,7 @@ def mformat(self, X):
                 rowstr = " "
                 # format the columns
                 for colnum, element in enumerate(row):
-                    if sym.issymbol(element):
+                    if base.sym.issymbol(element):
                         s = "{:<12s}".format(str(element))
                     else:
                         if (
@@ -1075,9 +1074,7 @@ def __pow__(self, n):
 
     # ----------------------- arithmetic
 
-    def __mul__(
-        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __mul__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``*`` operator (superclass method)
 
@@ -1243,9 +1240,7 @@ def __mul__(
         else:
             return NotImplemented
 
-    def __matmul__(
-        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __matmul__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``@`` operator (superclass method)
 
@@ -1271,9 +1266,7 @@ def __matmul__(
         else:
             raise TypeError("@ only applies to pose composition")
 
-    def __rmul__(
-        right, left  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __rmul__(right, left):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``*`` operator (superclass method)
 
@@ -1299,9 +1292,7 @@ def __rmul__(
         #     return NotImplemented
         return right.__mul__(left)
 
-    def __imul__(
-        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __imul__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``*=`` operator (superclass method)
 
@@ -1317,9 +1308,7 @@ def __imul__(
         """
         return left.__mul__(right)
 
-    def __truediv__(
-        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __truediv__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``/`` operator (superclass method)
 
@@ -1372,9 +1361,7 @@ def __truediv__(
         else:
             raise ValueError("bad operands")
 
-    def __itruediv__(
-        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __itruediv__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``/=`` operator (superclass method)
 
@@ -1390,9 +1377,7 @@ def __itruediv__(
         """
         return left.__truediv__(right)
 
-    def __add__(
-        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __add__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``+`` operator (superclass method)
 
@@ -1442,9 +1427,7 @@ def __add__(
         # results is not in the group, return an array, not a class
         return left._op2(right, lambda x, y: x + y)
 
-    def __radd__(
-        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __radd__(right, left):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``+`` operator (superclass method)
 
@@ -1458,11 +1441,9 @@ def __radd__(
 
         :seealso: :meth:`__add__`
         """
-        return left.__add__(right)
+        return right.__add__(left)
 
-    def __iadd__(
-        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __iadd__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``+=`` operator (superclass method)
 
@@ -1478,9 +1459,7 @@ def __iadd__(
         """
         return left.__add__(right)
 
-    def __sub__(
-        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __sub__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``-`` operator (superclass method)
 
@@ -1530,9 +1509,7 @@ def __sub__(
         # TODO allow class +/- a conformant array
         return left._op2(right, lambda x, y: x - y)
 
-    def __rsub__(
-        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __rsub__(right, left):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``-`` operator (superclass method)
 
@@ -1546,11 +1523,9 @@ def __rsub__(
 
         :seealso: :meth:`__sub__`
         """
-        return -left.__sub__(right)
+        return -right.__sub__(left)
 
-    def __isub__(
-        left, right  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def __isub__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Overloaded ``-=`` operator (superclass method)
 
@@ -1623,9 +1598,7 @@ def __ne__(left, right):  # lgtm[py/not-named-self] pylint: disable=no-self-argu
         eq = left == right
         return (not eq if isinstance(eq, bool) else [not x for x in eq])
 
-    def _op2(
-        left, right, op  # lgtm[py/not-named-self] pylint: disable=no-self-argument
-    ):
+    def _op2(left, right, op):  # lgtm[py/not-named-self] pylint: disable=no-self-argument
         """
         Perform binary operation
 

spatialmath/geom2d.py

@@ -6,13 +6,11 @@
 @author: corkep
 """
 from functools import reduce
-from spatialmath.base.graphics import axes_logic
 from spatialmath import base, SE2
 import matplotlib.pyplot as plt
 from matplotlib.path import Path
 from matplotlib.patches import PathPatch
 from matplotlib.transforms import Affine2D
-from matplotlib.collections import PatchCollection
 import numpy as np
 
 

spatialmath/geom3d.py

@@ -1192,30 +1192,30 @@ def __init__(self, v=None, w=None):
     import pathlib
     import os.path
 
-    L = Line3.TwoPoints((1,2,0), (1,2,1))
-    print(L)
-    print(L.intersect_plane([0, 0, 1, 0]))
+    # L = Line3.TwoPoints((1,2,0), (1,2,1))
+    # print(L)
+    # print(L.intersect_plane([0, 0, 1, 0]))
 
-    z = np.eye(6) * L
+    # z = np.eye(6) * L
 
-    L2 = SE3(2, 1, 10) * L
-    print(L2)
-    print(L2.intersect_plane([0, 0, 1, 0]))
+    # L2 = SE3(2, 1, 10) * L
+    # print(L2)
+    # print(L2.intersect_plane([0, 0, 1, 0]))
 
-    print('rx')
-    L2 = SE3.Rx(np.pi/4) * L
-    print(L2)
-    print(L2.intersect_plane([0, 0, 1, 0]))
+    # print('rx')
+    # L2 = SE3.Rx(np.pi/4) * L
+    # print(L2)
+    # print(L2.intersect_plane([0, 0, 1, 0]))
 
-    print('ry')
-    L2 = SE3.Ry(np.pi/4) * L
-    print(L2)
-    print(L2.intersect_plane([0, 0, 1, 0]))
+    # print('ry')
+    # L2 = SE3.Ry(np.pi/4) * L
+    # print(L2)
+    # print(L2.intersect_plane([0, 0, 1, 0]))
 
-    print('rz')
-    L2 = SE3.Rz(np.pi/4) * L
-    print(L2)
-    print(L2.intersect_plane([0, 0, 1, 0]))
+    # print('rz')
+    # L2 = SE3.Rz(np.pi/4) * L
+    # print(L2)
+    # print(L2.intersect_plane([0, 0, 1, 0]))
 
     # base.plotvol3(10)
     # S = Twist3.UnitRevolute([0, 0, 1], [2, 3, 2], 0.5);
@@ -1229,4 +1229,4 @@ def __init__(self, v=None, w=None):
 
     # a = SE3.Exp([2,0,0,0,0,0])
 
-    # exec(open(pathlib.Path(__file__).parent.parent.absolute() / "tests" / "test_geom3d.py").read())  # pylint: disable=exec-used
+    exec(open(pathlib.Path(__file__).parent.parent.absolute() / "tests" / "test_geom3d.py").read())  # pylint: disable=exec-used