Fix lint error (#1124)

Author: AtsushiSakai

ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py

@@ -158,7 +158,7 @@ def astar_torus(grid, start_node, goal_node):
         while parent_map[route[0][0]][route[0][1]] != ():
             route.insert(0, parent_map[route[0][0]][route[0][1]])
 
-        print("The route found covers %d grid cells." % len(route))
+        print(f"The route found covers {len(route)} grid cells.")
         for i in range(1, len(route)):
             grid[route[i]] = 6
             plt.cla()
@@ -212,7 +212,7 @@ def calc_heuristic_map(M, goal_node):
     return heuristic_map
 
 
-class NLinkArm(object):
+class NLinkArm:
     """
     Class for controlling and plotting a planar arm with an arbitrary number of links.
     """

ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation_2.py

@@ -189,7 +189,7 @@ def astar_torus(grid, start_node, goal_node):
         while parent_map[route[0][0]][route[0][1]] != ():
             route.insert(0, parent_map[route[0][0]][route[0][1]])
 
-        print("The route found covers %d grid cells." % len(route))
+        print(f"The route found covers {len(route)} grid cells.")
         for i in range(1, len(route)):
             grid[route[i]] = 6
             plt.cla()
@@ -243,7 +243,7 @@ def calc_heuristic_map(M, goal_node):
     return heuristic_map
 
 
-class NLinkArm(object):
+class NLinkArm:
     """
     Class for controlling and plotting a planar arm with an arbitrary number of links.
     """

PathPlanning/DynamicMovementPrimitives/dynamic_movement_primitives.py

@@ -18,7 +18,7 @@
 import numpy as np
 
 
-class DMP(object):
+class DMP:
 
     def __init__(self, training_data, data_period, K=156.25, B=25):
         """
@@ -215,21 +215,21 @@ def show_DMP_purpose(self):
         T_vals = np.linspace(T_orig, 2*T_orig, 20)
 
         for new_q0_value in q0_vals:
-            plot_title = "Initial Position = [%s, %s]" % \
-                         (round(new_q0_value[0], 2), round(new_q0_value[1], 2))
+            plot_title = (f"Initial Position = [{round(new_q0_value[0], 2)},"
+                          f" {round(new_q0_value[1], 2)}]")
 
             _, path = self.recreate_trajectory(new_q0_value, g_orig, T_orig)
             self.view_trajectory(path, title=plot_title, demo=True)
 
         for new_g_value in g_vals:
-            plot_title = "Goal Position = [%s, %s]" % \
-                         (round(new_g_value[0], 2), round(new_g_value[1], 2))
+            plot_title = (f"Goal Position = [{round(new_g_value[0], 2)},"
+                          f" {round(new_g_value[1], 2)}]")
 
             _, path = self.recreate_trajectory(q0_orig, new_g_value, T_orig)
             self.view_trajectory(path, title=plot_title, demo=True)
 
         for new_T_value in T_vals:
-            plot_title = "Period = %s [sec]" % round(new_T_value, 2)
+            plot_title = f"Period = {round(new_T_value, 2)} [sec]"
 
             _, path = self.recreate_trajectory(q0_orig, g_orig, new_T_value)
             self.view_trajectory(path, title=plot_title, demo=True)
@@ -257,5 +257,4 @@ def example_DMP():
 
 
 if __name__ == '__main__':
-
     example_DMP()

PathPlanning/Eta3SplineTrajectory/eta3_spline_trajectory.py

@@ -26,8 +26,7 @@
 
 class MaxVelocityNotReached(Exception):
     def __init__(self, actual_vel, max_vel):
-        self.message = 'Actual velocity {} does not equal desired max velocity {}!'.format(
-            actual_vel, max_vel)
+        self.message = f'Actual velocity {actual_vel} does not equal desired max velocity {max_vel}!'
 
 
 class eta3_trajectory(Eta3Path):
@@ -42,7 +41,7 @@ def __init__(self, segments, max_vel, v0=0.0, a0=0.0, max_accel=2.0, max_jerk=5.
         # ensure that all inputs obey the assumptions of the model
         assert max_vel > 0 and v0 >= 0 and a0 >= 0 and max_accel > 0 and max_jerk > 0 \
             and a0 <= max_accel and v0 <= max_vel
-        super(eta3_trajectory, self).__init__(segments=segments)
+        super(__class__, self).__init__(segments=segments)
         self.total_length = sum([s.segment_length for s in self.segments])
         self.max_vel = float(max_vel)
         self.v0 = float(v0)
@@ -166,7 +165,7 @@ def velocity_profile(self):
         try:
             assert np.isclose(self.vels[index], 0)
         except AssertionError as e:
-            print('The final velocity {} is not zero'.format(self.vels[index]))
+            print(f'The final velocity {self.vels[index]} is not zero')
             raise e
 
         self.seg_lengths[index] = s_sf

PathPlanning/RRT/sobol/sobol.py

@@ -370,8 +370,8 @@ def i4_sobol(dim_num, seed):
         if (dim_num < 1 or dim_max < dim_num):
             print('I4_SOBOL - Fatal error!')
             print('    The spatial dimension DIM_NUM should satisfy:')
-            print('        1 <= DIM_NUM <= %d' % dim_max)
-            print('    But this input value is DIM_NUM = %d' % dim_num)
+            print(f'        1 <= DIM_NUM <= {dim_max:d}')
+            print(f'    But this input value is DIM_NUM = {dim_num:d}')
             return None
 
         dim_num_save = dim_num
@@ -443,7 +443,7 @@ def i4_sobol(dim_num, seed):
         #
         l_var = i4_bit_lo0(seed)
 
-    elif (seed <= seed_save):
+    elif seed <= seed_save:
 
         seed_save = 0
         lastq = np.zeros(dim_num)
@@ -471,8 +471,8 @@ def i4_sobol(dim_num, seed):
     if maxcol < l_var:
         print('I4_SOBOL - Fatal error!')
         print('    Too many calls!')
-        print('    MAXCOL = %d\n' % maxcol)
-        print('    L =            %d\n' % l_var)
+        print(f'    MAXCOL = {maxcol:d}\n')
+        print(f'    L =            {l_var:d}\n')
         return None
 
 
@@ -819,7 +819,7 @@ def r8mat_write(filename, m, n, a):
     with open(filename, 'w') as output:
         for i in range(0, m):
             for j in range(0, n):
-                s = '  %g' % (a[i, j])
+                s = f'  {a[i, j]:g}'
                 output.write(s)
             output.write('\n')