pep8

python/test/test.py

-from spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint, from_bezier
-
 from numpy import matrix
 from numpy.linalg import norm
 
+from spline import bezier, bezier6, curve_constraints, exact_cubic, from_bezier, polynom, spline_deriv_constraint
+
 __EPS = 1e-6
 
-waypoints = matrix([[1.,2.,3.],[4.,5.,6.]]).transpose()
-waypoints6 = matrix([[1.,2.,3.,7.,5.,5.],[4.,5.,6.,4.,5.,6.]]).transpose()
-time_waypoints = matrix([0.,1.])
+waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
+waypoints6 = matrix([[1., 2., 3., 7., 5., 5.], [4., 5., 6., 4., 5., 6.]]).transpose()
+time_waypoints = matrix([0., 1.])
 
-#testing bezier curve
+# testing bezier curve
 a = bezier6(waypoints6)
 a = bezier(waypoints, 3.)
 
-assert(a.degree == a.nbWaypoints -1)
+assert (a.degree == a.nbWaypoints - 1)
 a.min()
 a.max()
 a(0.4)
-assert((a.derivate(0.4,0) == a(0.4)).all())
-a.derivate(0.4,2)
+assert ((a.derivate(0.4, 0) == a(0.4)).all())
+a.derivate(0.4, 2)
 a = a.compute_derivate(100)
 
 prim = a.compute_primitive(1)
 
-
 for i in range(10):
-	t = float(i) / 10.
-	assert(a(t) == prim.derivate(t,1)).all()
-assert(prim(0) == matrix([0.,0.,0.])).all()
+    t = float(i) / 10.
+    assert (a(t) == prim.derivate(t, 1)).all()
+assert (prim(0) == matrix([0., 0., 0.])).all()
 
 prim = a.compute_primitive(2)
 for i in range(10):
-	t = float(i) / 10.
-	assert(a(t) == prim.derivate(t,2)).all()
-assert(prim(0) == matrix([0.,0.,0.])).all()
+    t = float(i) / 10.
+    assert (a(t) == prim.derivate(t, 2)).all()
+assert (prim(0) == matrix([0., 0., 0.])).all()
 
-waypoints = matrix([[1.,2.,3.],[4.,5.,6.],[4.,5.,6.],[4.,5.,6.],[4.,5.,6.]]).transpose()
+waypoints = matrix([[1., 2., 3.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.], [4., 5., 6.]]).transpose()
 a0 = bezier(waypoints)
 a1 = bezier(waypoints, 3.)
 prim0 = a0.compute_primitive(1)
 prim1 = a1.compute_primitive(1)
 
 for i in range(10):
-	t = float(i) / 10.
-	assert norm(a0(t) - a1(3*t))                            < __EPS
-	assert norm(a0.derivate(t,1) - a1.derivate(3*t,1) * 3.) < __EPS
-	assert norm(a0.derivate(t,2) - a1.derivate(3*t,2) * 9.) < __EPS
-	assert norm(prim0(t) - prim1(t*3) / 3.) < __EPS
-assert(prim(0) == matrix([0.,0.,0.])).all()
-
-
-#testing bezier with constraints
-c = curve_constraints();
-c.init_vel = matrix([0.,1.,1.]);
-c.end_vel  = matrix([0.,1.,1.]);
-c.init_acc = matrix([0.,1.,-1.]);
-c.end_acc  = matrix([0.,100.,1.]);
-
-waypoints = matrix([[1.,2.,3.],[4.,5.,6.]]).transpose()
-a = bezier(waypoints,c)
-assert norm(a.derivate(0,1) - c.init_vel) < 1e-10
-assert norm(a.derivate(1,2) - c.end_acc) < 1e-10
-
-
-#testing polynom function
+    t = float(i) / 10.
+    assert norm(a0(t) - a1(3 * t)) < __EPS
+    assert norm(a0.derivate(t, 1) - a1.derivate(3 * t, 1) * 3.) < __EPS
+    assert norm(a0.derivate(t, 2) - a1.derivate(3 * t, 2) * 9.) < __EPS
+    assert norm(prim0(t) - prim1(t * 3) / 3.) < __EPS
+assert (prim(0) == matrix([0., 0., 0.])).all()
+
+# testing bezier with constraints
+c = curve_constraints()
+c.init_vel = matrix([0., 1., 1.])
+c.end_vel = matrix([0., 1., 1.])
+c.init_acc = matrix([0., 1., -1.])
+c.end_acc = matrix([0., 100., 1.])
+
+waypoints = matrix([[1., 2., 3.], [4., 5., 6.]]).transpose()
+a = bezier(waypoints, c)
+assert norm(a.derivate(0, 1) - c.init_vel) < 1e-10
+assert norm(a.derivate(1, 2) - c.end_acc) < 1e-10
+
+# testing polynom function
 a = polynom(waypoints)
 a = polynom(waypoints, -1., 3.)
 a.min()
 a.max()
 a(0.4)
-assert((a.derivate(0.4,0) == a(0.4)).all())
-a.derivate(0.4,2)
+assert ((a.derivate(0.4, 0) == a(0.4)).all())
+a.derivate(0.4, 2)
 
-#testing exact_cubic function
+# testing exact_cubic function
 a = exact_cubic(waypoints, time_waypoints)
 a.min()
 a.max()
 a(0.4)
-assert((a.derivate(0.4,0) == a(0.4)).all())
-a.derivate(0.4,2)
-
-#testing spline_deriv_constraints
-c = curve_constraints();
-c.init_vel; 
-c.end_vel;
-c.init_acc;
-c.end_acc;
+assert ((a.derivate(0.4, 0) == a(0.4)).all())
+a.derivate(0.4, 2)
 
+# testing spline_deriv_constraints
+c = curve_constraints()
+c.init_vel
+c.end_vel
+c.init_acc
+c.end_acc
 
-c.init_vel = matrix([0.,1.,1.]);
-c.end_vel  = matrix([0.,1.,1.]);
-c.init_acc = matrix([0.,1.,1.]);
-c.end_acc  = matrix([0.,1.,1.]);
+c.init_vel = matrix([0., 1., 1.])
+c.end_vel = matrix([0., 1., 1.])
+c.init_acc = matrix([0., 1., 1.])
+c.end_acc = matrix([0., 1., 1.])
 
-a = spline_deriv_constraint (waypoints, time_waypoints)
-a = spline_deriv_constraint (waypoints, time_waypoints, c)
+a = spline_deriv_constraint(waypoints, time_waypoints)
+a = spline_deriv_constraint(waypoints, time_waypoints, c)
 
-#converting bezier to polynom
+# converting bezier to polynom
 
 a = bezier(waypoints)
 a_pol = from_bezier(a)