From ba8305ffc6f8a81a0b3a421154fc4e69861ff189 Mon Sep 17 00:00:00 2001
From: Jackack <hjack2667@gmail.com>
Date: Sat, 3 Feb 2024 13:44:41 -0500
Subject: [PATCH] more pylint fixes

---
 rb_ws/src/buggy/scripts/auton/autonsystem.py        |  9 ++++-----
 rb_ws/src/buggy/scripts/auton/controller.py         |  2 --
 rb_ws/src/buggy/scripts/auton/path_planner.py       |  3 ---
 rb_ws/src/buggy/scripts/auton/path_projection.py    | 10 ++++++----
 rb_ws/src/buggy/scripts/auton/stanley_controller.py |  2 --
 rb_ws/src/buggy/scripts/auton/trajectory.py         |  3 ++-
 6 files changed, 12 insertions(+), 17 deletions(-)

diff --git a/rb_ws/src/buggy/scripts/auton/autonsystem.py b/rb_ws/src/buggy/scripts/auton/autonsystem.py
index 93813e66..ede3ddab 100755
--- a/rb_ws/src/buggy/scripts/auton/autonsystem.py
+++ b/rb_ws/src/buggy/scripts/auton/autonsystem.py
@@ -1,14 +1,16 @@
 #!/usr/bin/env python3
 
+import argparse
+import cProfile
+from threading import Lock
+
 import rospy
-import sys
 
 # ROS Message Imports
 from std_msgs.msg import Float32, Float64, Bool
 from nav_msgs.msg import Odometry
 
 import numpy as np
-from threading import Lock
 
 from trajectory import Trajectory
 from world import World
@@ -21,9 +23,6 @@
 from path_planner import PathPlanner
 from pose import Pose
 
-import argparse
-import cProfile
-
 class AutonSystem:
     """
     Top-level class for the RoboBuggy autonomous system
diff --git a/rb_ws/src/buggy/scripts/auton/controller.py b/rb_ws/src/buggy/scripts/auton/controller.py
index 1a070591..cf7120f8 100755
--- a/rb_ws/src/buggy/scripts/auton/controller.py
+++ b/rb_ws/src/buggy/scripts/auton/controller.py
@@ -1,9 +1,7 @@
 from abc import ABC, abstractmethod
 
-import numpy as np
 from trajectory import Trajectory
 from pose import Pose
-import rospy
 from sensor_msgs.msg import NavSatFix
 from world import World
 
diff --git a/rb_ws/src/buggy/scripts/auton/path_planner.py b/rb_ws/src/buggy/scripts/auton/path_planner.py
index 78480d75..62a06c6b 100755
--- a/rb_ws/src/buggy/scripts/auton/path_planner.py
+++ b/rb_ws/src/buggy/scripts/auton/path_planner.py
@@ -3,15 +3,12 @@
 import rospy
 from sensor_msgs.msg import NavSatFix
 from std_msgs.msg import Float64
-from geometry_msgs.msg import Pose as ROSPose
 from pose import Pose
 
 from occupancy_grid.grid_manager import OccupancyGrid
 from path_projection import Projector
 from trajectory import Trajectory
 from world import World
-import copy
-
 
 LOOKAHEAD_TIME = 2.0 #s
 RESOLUTION = 30 #samples/s
diff --git a/rb_ws/src/buggy/scripts/auton/path_projection.py b/rb_ws/src/buggy/scripts/auton/path_projection.py
index 69e2cab8..6af9de0e 100755
--- a/rb_ws/src/buggy/scripts/auton/path_projection.py
+++ b/rb_ws/src/buggy/scripts/auton/path_projection.py
@@ -1,6 +1,6 @@
+import time
 import numpy as np
 from pose import Pose
-import time
 
 class Projector:
     """
@@ -22,10 +22,12 @@ def project(self, pose: Pose, command: float, v: float, delta_t: float, resoluti
             resolution (int): Number of points to output per second
 
         Returns:
-            list: 2D List with shape ((time * resolutions), (2)), where the ith row is [utm_e, utm_n] at ith prediction
+            list: 2D List with shape ((time * resolutions), (2)),
+            where the ith row is [utm_e, utm_n] at ith prediction
         """
 
         # t_0 = time.perf_counter_ns()
+
         dtheta = v * np.tan(np.deg2rad(command)) / self.wheelbase
         ts = 1/resolution
         t = np.arange(0, delta_t, ts)
@@ -45,9 +47,9 @@ def project(self, pose: Pose, command: float, v: float, delta_t: float, resoluti
             y = pose.y + t * v * np.sin(theta)
 
         output = np.vstack((x, y)).T
-        t_1 = time.perf_counter_ns()
-
+        # t_1 = time.perf_counter_ns()
         # print("time per point (us):", (t_1 - t_0)/(1000 * resolution * delta_t))
+
         return output
 
     def project_discrete(self, pose: Pose, command: float, v: float, time: float, resolution: int, sim_rate: int) -> list:
diff --git a/rb_ws/src/buggy/scripts/auton/stanley_controller.py b/rb_ws/src/buggy/scripts/auton/stanley_controller.py
index 5cf95e50..73e9f76e 100644
--- a/rb_ws/src/buggy/scripts/auton/stanley_controller.py
+++ b/rb_ws/src/buggy/scripts/auton/stanley_controller.py
@@ -1,5 +1,3 @@
-from abc import ABC, abstractmethod
-
 import numpy as np
 
 import rospy
diff --git a/rb_ws/src/buggy/scripts/auton/trajectory.py b/rb_ws/src/buggy/scripts/auton/trajectory.py
index 6e044018..5cfbc664 100755
--- a/rb_ws/src/buggy/scripts/auton/trajectory.py
+++ b/rb_ws/src/buggy/scripts/auton/trajectory.py
@@ -1,7 +1,8 @@
-import numpy as np
 import json
 import matplotlib.pyplot as plt
 import uuid
+import numpy as np
+
 from scipy.interpolate import Akima1DInterpolator, CubicSpline
 
 from world import World