[python-linker] flake8 + yapf

src/dynamic_graph/sot/core/feature_position.py

@@ -27,7 +27,11 @@ class FeaturePosition(Entity):
 
     signalMap = dict()
 
-    def __init__(self, name, signalPosition=None, signalJacobian=None, referencePosition=None):
+    def __init__(self,
+                 name,
+                 signalPosition=None,
+                 signalJacobian=None,
+                 referencePosition=None):
         self._feature = FeaturePoint6d(name)
         self.obj = self._feature.obj
         self._reference = FeaturePoint6d(name + '_ref')

src/dynamic_graph/sot/core/feature_position_relative.py

@@ -10,7 +10,8 @@ from dynamic_graph.signal_base import SignalBase
 from dynamic_graph.sot.core.feature_point6d_relative import FeaturePoint6dRelative
 
 # Identity matrix of order 4
-I4 = reduce(lambda m, i: m + (i * (0., ) + (1., ) + (3 - i) * (0., ), ), range(4), ())
+I4 = reduce(lambda m, i: m + (i * (0., ) + (1., ) + (3 - i) * (0., ), ),
+            range(4), ())
 
 
 class FeaturePositionRelative(Entity):

src/dynamic_graph/sot/core/math_small_entities.py

@@ -6,15 +6,21 @@
 # from operator import WeightDir
 # from operator import Nullificator
 from .operator import (
-    Add_of_double, Add_of_matrix, Add_of_vector, Component_of_vector, Compose_R_and_T, ConvolutionTemporal,
-    HomoToMatrix, HomoToRotation, HomoToTwist, Inverse_of_matrix, Inverse_of_matrixHomo, Inverse_of_matrixrotation,
-    Inverse_of_matrixtwist, Inverse_of_unitquat, MatrixDiagonal, MatrixHomoToPose, MatrixHomoToPoseQuaternion,
-    MatrixHomoToPoseRollPitchYaw, MatrixHomoToPoseUTheta, MatrixToHomo, MatrixToQuaternion, MatrixToRPY,
-    MatrixToUTheta, MatrixTranspose, Multiply_double_vector, Multiply_matrix_vector, Multiply_matrixTwist_vector,
-    Multiply_matrixHomo_vector, Multiply_of_double, Multiply_of_matrix, Multiply_of_matrixHomo, Multiply_of_matrixrotation,
-    Multiply_of_matrixtwist, Multiply_of_quaternion, Multiply_of_vector, PoseRollPitchYawToMatrixHomo,
-    PoseRollPitchYawToPoseUTheta, PoseUThetaToMatrixHomo, QuaternionToMatrix, RPYToMatrix, Selec_column_of_matrix,
-    Selec_of_matrix, Selec_of_vector, SkewSymToVector, Stack_of_vector, Substract_of_double, Substract_of_matrix,
+    Add_of_double, Add_of_matrix, Add_of_vector, Component_of_vector,
+    Compose_R_and_T, ConvolutionTemporal, HomoToMatrix, HomoToRotation,
+    HomoToTwist, Inverse_of_matrix, Inverse_of_matrixHomo,
+    Inverse_of_matrixrotation, Inverse_of_matrixtwist, Inverse_of_unitquat,
+    MatrixDiagonal, MatrixHomoToPose, MatrixHomoToPoseQuaternion,
+    MatrixHomoToPoseRollPitchYaw, MatrixHomoToPoseUTheta, MatrixToHomo,
+    MatrixToQuaternion, MatrixToRPY, MatrixToUTheta, MatrixTranspose,
+    Multiply_double_vector, Multiply_matrix_vector,
+    Multiply_matrixTwist_vector, Multiply_matrixHomo_vector,
+    Multiply_of_double, Multiply_of_matrix, Multiply_of_matrixHomo,
+    Multiply_of_matrixrotation, Multiply_of_matrixtwist,
+    Multiply_of_quaternion, Multiply_of_vector, PoseRollPitchYawToMatrixHomo,
+    PoseRollPitchYawToPoseUTheta, PoseUThetaToMatrixHomo, QuaternionToMatrix,
+    RPYToMatrix, Selec_column_of_matrix, Selec_of_matrix, Selec_of_vector,
+    SkewSymToVector, Stack_of_vector, Substract_of_double, Substract_of_matrix,
     Substract_of_vector, UThetaToQuaternion)
 
 from .derivator import Derivator_of_Matrix, Derivator_of_Vector

src/dynamic_graph/sot/core/matrix_util.py

@@ -29,7 +29,8 @@ def vectorToTuple(M):
 
 # Convert from Roll, Pitch, Yaw to transformation Matrix
 def rpy2tr(r, p, y):
-    mat = matrix(rotate('z', y)) * matrix(rotate('y', p)) * matrix(rotate('x', r))
+    mat = matrix(rotate('z', y)) * matrix(rotate('y', p)) * matrix(
+        rotate('x', r))
     return matrixToTuple(mat)
 
 
@@ -63,7 +64,8 @@ def generateOrthonormalM(v1):
     e1 = e1.tolist()
     e2 = e2.tolist()
     e3 = e3.tolist()
-    M = ((e1[0][0], e2[0][0], e3[0][0]), (e1[0][1], e2[0][1], e3[0][1]), (e1[0][2], e2[0][2], e3[0][2]))
+    M = ((e1[0][0], e2[0][0], e3[0][0]), (e1[0][1], e2[0][1], e3[0][1]),
+         (e1[0][2], e2[0][2], e3[0][2]))
     return M
 
 
@@ -121,7 +123,14 @@ def rotate(axis, ang):
 
 def quaternionToMatrix(q):
     [qx, qy, qz, qw] = q
-    R = [[1 - 2 * qy**2 - 2 * qz**2, 2 * qx * qy - 2 * qz * qw, 2 * qx * qz + 2 * qy * qw],
-         [2 * qx * qy + 2 * qz * qw, 1 - 2 * qx**2 - 2 * qz**2, 2 * qy * qz - 2 * qx * qw],
-         [2 * qx * qz - 2 * qy * qw, 2 * qy * qz + 2 * qx * qw, 1 - 2 * qx**2 - 2 * qy**2]]
+    R = [[
+        1 - 2 * qy**2 - 2 * qz**2, 2 * qx * qy - 2 * qz * qw,
+        2 * qx * qz + 2 * qy * qw
+    ], [
+        2 * qx * qy + 2 * qz * qw, 1 - 2 * qx**2 - 2 * qz**2,
+        2 * qy * qz - 2 * qx * qw
+    ], [
+        2 * qx * qz - 2 * qy * qw, 2 * qy * qz + 2 * qx * qw,
+        1 - 2 * qx**2 - 2 * qy**2
+    ]]
     return R

src/dynamic_graph/sot/core/meta_task_6d.py

@@ -29,8 +29,14 @@ class MetaTask6d(object):
     featureDes = 0
 
     def opPointExist(self, opPoint):
-        sigsP = [x for x in self.dyn.signals() if x.getName().split(':')[-1] == opPoint]
-        sigsJ = [x for x in self.dyn.signals() if x.getName().split(':')[-1] == 'J' + opPoint]
+        sigsP = [
+            x for x in self.dyn.signals()
+            if x.getName().split(':')[-1] == opPoint
+        ]
+        sigsJ = [
+            x for x in self.dyn.signals()
+            if x.getName().split(':')[-1] == 'J' + opPoint
+        ]
         return len(sigsP) == 1 & len(sigsJ) == 1
 
     def defineDynEntities(self, dyn):
@@ -44,8 +50,12 @@ class MetaTask6d(object):
 
     def createOpPointModif(self):
         self.opPointModif = OpPointModifier('opmodif' + self.name)
-        plug(self.dyn.signal(self.opPoint), self.opPointModif.signal('positionIN'))
-        plug(self.dyn.signal('J' + self.opPoint), self.opPointModif.signal('jacobianIN'))
+        plug(
+            self.dyn.signal(self.opPoint),
+            self.opPointModif.signal('positionIN'))
+        plug(
+            self.dyn.signal('J' + self.opPoint),
+            self.opPointModif.signal('jacobianIN'))
         self.opPointModif.activ = False
 
     def createFeatures(self):
@@ -101,12 +111,16 @@ class MetaTask6d(object):
     @opmodif.setter
     def opmodif(self, m):
         if isinstance(m, bool) and not m:
-            plug(self.dyn.signal(self.opPoint), self.feature.signal('position'))
-            plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
+            plug(
+                self.dyn.signal(self.opPoint), self.feature.signal('position'))
+            plug(
+                self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
             self.opPointModif.activ = False
         else:
             if not self.opPointModif.activ:
-                plug(self.opPointModif.signal('position'), self.feature.position)
+                plug(
+                    self.opPointModif.signal('position'),
+                    self.feature.position)
                 plug(self.opPointModif.signal('jacobian'), self.feature.Jq)
             self.opPointModif.setTransformation(m)
             self.opPointModif.activ = True

src/dynamic_graph/sot/core/meta_task_visual_point.py

@@ -17,8 +17,10 @@ class MetaTaskVisualPoint(object):
     proj = 0
 
     def opPointExist(self, opPoint):
-        sigsP = filter(lambda x: x.getName().split(':')[-1] == opPoint, self.dyn.signals())
-        sigsJ = filter(lambda x: x.getName().split(':')[-1] == 'J' + opPoint, self.dyn.signals())
+        sigsP = filter(lambda x: x.getName().split(':')[-1] == opPoint,
+                       self.dyn.signals())
+        sigsJ = filter(lambda x: x.getName().split(':')[-1] == 'J' + opPoint,
+                       self.dyn.signals())
         return len(sigsP) == 1 & len(sigsJ) == 1
 
     def defineDynEntities(self, dyn):
@@ -32,8 +34,12 @@ class MetaTaskVisualPoint(object):
 
     def createOpPointModif(self):
         self.opPointModif = OpPointModifier('opmodif' + self.name)
-        plug(self.dyn.signal(self.opPoint), self.opPointModif.signal('positionIN'))
-        plug(self.dyn.signal('J' + self.opPoint), self.opPointModif.signal('jacobianIN'))
+        plug(
+            self.dyn.signal(self.opPoint),
+            self.opPointModif.signal('positionIN'))
+        plug(
+            self.dyn.signal('J' + self.opPoint),
+            self.opPointModif.signal('jacobianIN'))
         self.opPointModif.activ = False
 
     def createFeatures(self):
@@ -99,12 +105,17 @@ class MetaTaskVisualPoint(object):
     def opmodif(self, m):
         if isinstance(m, bool) and not m:
             plug(self.dyn.signal(self.opPoint), self.proj.signal('transfo'))
-            plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
+            plug(
+                self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
             self.opPointModif.activ = False
         else:
             if not self.opPointModif.activ:
-                plug(self.opPointModif.signal('position'), self.proj.signal('transfo'))
-                plug(self.opPointModif.signal('jacobian'), self.feature.signal('Jq'))
+                plug(
+                    self.opPointModif.signal('position'),
+                    self.proj.signal('transfo'))
+                plug(
+                    self.opPointModif.signal('jacobian'),
+                    self.feature.signal('Jq'))
             self.opPointModif.setTransformation(m)
             self.opPointModif.activ = True
 

src/dynamic_graph/sot/core/meta_tasks.py

@@ -55,7 +55,8 @@ def generic6dReference(p):
         M[0:3, 3] = p
     elif isinstance(p, (matrix, ndarray)) and p.shape == (4, 4):
         M = p
-    elif isinstance(p, (matrix, tuple)) and len(p) == 4 == len(p[0]) == len(p[1]) == len(p[2]) == len(p[3]):
+    elif isinstance(p, (matrix, tuple)) and len(p) == 4 == len(p[0]) == len(
+            p[1]) == len(p[2]) == len(p[3]):
         M = matrix(p)
     elif isinstance(p, (matrix, ndarray, tuple)) and len(p) == 6:
         M = array(rpy2tr(*p[3:7]))
@@ -70,7 +71,8 @@ def goto6d(task, position, gain=None, resetJacobian=True):
     task.featureDes.position.value = matrixToTuple(M)
     task.feature.selec.value = "111111"
     setGain(task.gain, gain)
-    if 'resetJacobianDerivative' in task.task.__class__.__dict__.keys() and resetJacobian:
+    if 'resetJacobianDerivative' in task.task.__class__.__dict__.keys(
+    ) and resetJacobian:
         task.task.resetJacobianDerivative()
 
 
@@ -83,5 +85,6 @@ def gotoNd(task, position, selec=None, gain=None, resetJacobian=True):
             task.feature.selec.value = toFlags(selec)
     task.featureDes.position.value = matrixToTuple(M)
     setGain(task.gain, gain)
-    if 'resetJacobianDerivative' in task.task.__class__.__dict__.keys() and resetJacobian:
+    if 'resetJacobianDerivative' in task.task.__class__.__dict__.keys(
+    ) and resetJacobian:
         task.task.resetJacobianDerivative()

src/dynamic_graph/sot/core/meta_tasks_kine_relative.py

@@ -19,13 +19,18 @@ class MetaTaskKine6dRel(MetaTask6d):
 
     def createOpPointModifBase(self):
         self.opPointModifBase = OpPointModifier('opmodifBase' + self.name)
-        plug(self.dyn.signal(self.opPointBase), self.opPointModifBase.signal('positionIN'))
-        plug(self.dyn.signal('J' + self.opPointBase), self.opPointModifBase.signal('jacobianIN'))
+        plug(
+            self.dyn.signal(self.opPointBase),
+            self.opPointModifBase.signal('positionIN'))
+        plug(
+            self.dyn.signal('J' + self.opPointBase),
+            self.opPointModifBase.signal('jacobianIN'))
         self.opPointModifBase.activ = False
 
     def createFeatures(self):
         self.feature = FeaturePoint6dRelative('featureRel' + self.name)
-        self.featureDes = FeaturePoint6dRelative('featureRel' + self.name + '_ref')
+        self.featureDes = FeaturePoint6dRelative(
+            'featureRel' + self.name + '_ref')
         self.feature.selec.value = '111111'
         self.feature.frame('current')
 
@@ -33,8 +38,12 @@ class MetaTaskKine6dRel(MetaTask6d):
         self.feature.setReference(self.featureDes.name)
         plug(self.dyn.signal(self.opPoint), self.feature.signal('position'))
         plug(self.dyn.signal('J' + self.opPoint), self.feature.signal('Jq'))
-        plug(self.dyn.signal(self.opPointBase), self.feature.signal('positionRef'))
-        plug(self.dyn.signal('J' + self.opPointBase), self.feature.signal('JqRef'))
+        plug(
+            self.dyn.signal(self.opPointBase),
+            self.feature.signal('positionRef'))
+        plug(
+            self.dyn.signal('J' + self.opPointBase),
+            self.feature.signal('JqRef'))
         self.task.add(self.feature.name)
         plug(self.task.error, self.gain.error)
         plug(self.gain.gain, self.task.controlGain)
@@ -43,7 +52,13 @@ class MetaTaskKine6dRel(MetaTask6d):
         self.feature.position.recompute(self.dyn.position.time)
         self.feature.keep()
 
-    def __init__(self, name, dyn, opPoint, opPointBase, opPointRef='right-wrist', opPointRefBase='left-wrist'):
+    def __init__(self,
+                 name,
+                 dyn,
+                 opPoint,
+                 opPointBase,
+                 opPointRef='right-wrist',
+                 opPointRefBase='left-wrist'):
         self.name = name
         self.defineDynEntities(dyn)
         self.createOpPoint(opPoint, opPointRef)
@@ -65,13 +80,21 @@ class MetaTaskKine6dRel(MetaTask6d):
     @opmodifBase.setter
     def opmodifBase(self, m):
         if isinstance(m, bool) and not m:
-            plug(self.dyn.signal(self.opPointBase), self.feature.signal('positionRef'))
-            plug(self.dyn.signal('J' + self.opPointBase), self.feature.signal('JqRef'))
+            plug(
+                self.dyn.signal(self.opPointBase),
+                self.feature.signal('positionRef'))
+            plug(
+                self.dyn.signal('J' + self.opPointBase),
+                self.feature.signal('JqRef'))
             self.opPointModifBase.activ = False
         else:
             if not self.opPointModifBase.activ:
-                plug(self.opPointModifBase.signal('position'), self.feature.positionRef)
-                plug(self.opPointModifBase.signal('jacobian'), self.feature.JqRef)
+                plug(
+                    self.opPointModifBase.signal('position'),
+                    self.feature.positionRef)
+                plug(
+                    self.opPointModifBase.signal('jacobian'),
+                    self.feature.JqRef)
             self.opPointModifBase.setTransformation(m)
             self.opPointModifBase.activ = True
 
@@ -86,11 +109,17 @@ def goto6dRel(task, position, positionRef, gain=None, resetJacobian=True):
     task.featureDes.positionRef.value = matrixToTuple(MRef)
     task.feature.selec.value = "111111"
     setGain(task.gain, gain)
-    if 'resetJacobianDerivative' in task.task.__class__.__dict__.keys() and resetJacobian:
+    if 'resetJacobianDerivative' in task.task.__class__.__dict__.keys(
+    ) and resetJacobian:
         task.task.resetJacobianDerivative()
 
 
-def gotoNdRel(task, position, positionRef, selec=None, gain=None, resetJacobian=True):
+def gotoNdRel(task,
+              position,
+              positionRef,
+              selec=None,
+              gain=None,
+              resetJacobian=True):
     M = generic6dReference(position)
     MRef = generic6dReference(positionRef)
     if selec is not None:
@@ -101,7 +130,8 @@ def gotoNdRel(task, position, positionRef, selec=None, gain=None, resetJacobian=
     task.featureDes.position.value = matrixToTuple(M)
     task.featureDes.positionRef.value = matrixToTuple(MRef)
     setGain(task.gain, gain)
-    if 'resetJacobianDerivative' in task.task.__class__.__dict__.keys() and resetJacobian:
+    if 'resetJacobianDerivative' in task.task.__class__.__dict__.keys(
+    ) and resetJacobian:
         task.task.resetJacobianDerivative()
 
 

src/dynamic_graph/sot/core/utils/attime.py

@@ -69,7 +69,8 @@ class Calendar:
                     self.registerEvent(iter, fun)
                 else:  # assert iscallable(fun)
                     if 'functor' in fun.__dict__:
-                        self.registerEvent(iter, (fun.functor, fun.functor.__doc__))
+                        self.registerEvent(iter,
+                                           (fun.functor, fun.functor.__doc__))
                     else:
                         self.registerEvent(iter, (fun, fun.__doc__))
 
@@ -108,6 +109,7 @@ class Calendar:
         This next calling pattern is a little bit strange. Use it to decorate
         a function definition: @attime(30) def run30(): ...
         """
+
         class calendarDeco:
             iterRef = iterarg
             calendarRef = self
@@ -118,9 +120,11 @@ class Calendar:
                     functer.__doc__ = "No doc fun"
                 if len(functer.__doc__) > 0:
                     selfdeco.__doc__ = functer.__doc__
-                    selfdeco.__doc__ += " (will be run at time " + str(selfdeco.iterRef) + ")"
+                    selfdeco.__doc__ += " (will be run at time " + str(
+                        selfdeco.iterRef) + ")"
                 selfdeco.fun = functer
-                selfdeco.calendarRef.registerEvents(selfdeco.iterRef, functer, functer.__doc__)
+                selfdeco.calendarRef.registerEvents(selfdeco.iterRef, functer,
+                                                    functer.__doc__)
 
             def __call__(selfdeco, *args):
                 selfdeco.fun(*args)

src/dynamic_graph/sot/core/utils/history.py

@@ -13,7 +13,8 @@ class History:
         self.freq = freq
         self.zmpSig = zmpSig
         self.dynEnt = dynEnt
-        self.withZmp = (self.zmpSig is not None) and ("waist" in map(lambda x: x.name, self.dynEnt.signals()))
+        self.withZmp = (self.zmpSig is not None) and ("waist" in map(
+            lambda x: x.name, self.dynEnt.signals()))
 
     def record(self):
         i = self.dynEnt.position.time
@@ -40,10 +41,13 @@ class History:
         fileWaist = open(baseName + '.waist', 'w')
         sampleT = 0.005
         for nT, q in enumerate(self.q):
-            fileRPY.write(str(sampleT * nT) + ' ' + str(q[3]) + ' ' + str(q[4]) + ' ' + str(q[5]) + '\n')
+            fileRPY.write(
+                str(sampleT * nT) + ' ' + str(q[3]) + ' ' + str(q[4]) + ' ' +
+                str(q[5]) + '\n')
             fileWaist.write(
-                str(sampleT * nT) + ' ' + str(q[0]) + ' ' + str(q[1]) + ' ' + str(q[2]) + ' ' + str(q[3]) + ' ' +
-                str(q[4]) + ' ' + str(q[5]) + '\n')
+                str(sampleT * nT) + ' ' + str(q[0]) + ' ' + str(q[1]) + ' ' +
+                str(q[2]) + ' ' + str(q[3]) + ' ' + str(q[4]) + ' ' +
+                str(q[5]) + '\n')
             filePos.write(str(sampleT * nT) + ' ')
             for j in range(6, 36):
                 filePos.write(str(q[j]) + ' ')
@@ -51,7 +55,9 @@ class History:
         if self.withZmp:
             fileZMP = open(baseName + '.zmp', 'w')
             for nT, z in enumerate(self.zmp):
-                fileZMP.write(str(sampleT * nT) + ' ' + str(z[0]) + ' ' + str(z[1]) + ' ' + str(z[2]) + '\n')
+                fileZMP.write(
+                    str(sampleT * nT) + ' ' + str(z[0]) + ' ' + str(z[1]) +
+                    ' ' + str(z[2]) + '\n')
 
         filePos0 = open(baseName + '_pos0.py', 'w')
         filePos0.write("dyninv_posinit = '")

src/dynamic_graph/sot/core/utils/viewer_helper.py

@@ -90,7 +90,8 @@ class VisualPinger:
         self.refresh()
 
     def refresh(self):
-        self.viewer.updateElementConfig('pong', [0, 0.9, self.pos * 0.1, 0, 0, 0])
+        self.viewer.updateElementConfig('pong',
+                                        [0, 0.9, self.pos * 0.1, 0, 0, 0])
 
     def __call__(self):
         self.pos += 1
@@ -99,4 +100,5 @@ class VisualPinger:
 
 def updateComDisplay(robot, comsig, objname='com'):
     if comsig.time > 0:
-        robot.viewer.updateElementConfig(objname, [comsig.value[0], comsig.value[1], 0, 0, 0, 0])
+        robot.viewer.updateElementConfig(
+            objname, [comsig.value[0], comsig.value[1], 0, 0, 0, 0])

src/dynamic_graph/sot/core/utils/viewer_loger.py

@@ -12,6 +12,7 @@ class ViewerLoger:
     robot.viewer = ViewerLoger(robot)
 
     '''
+
     def __init__(self, robot):
         self.robot = robot
         self.viewer = robot.viewer
@@ -23,7 +24,8 @@ class ViewerLoger:
         t = self.robot.state.time
         if name not in self.fileMap:
             self.fileMap[name] = open('/tmp/view_' + name + '.dat', 'w')
-        self.fileMap[name].write("\t".join([str(f) for f in [
-            t,
-        ] + list(state)]) + '\n')
+        self.fileMap[name].write(
+            "\t".join([str(f) for f in [
+                t,
+            ] + list(state)]) + '\n')
         self.viewer.updateElementConfig(name, state)

tests/python/initialize-euler.py

@@ -11,8 +11,10 @@ class OpPointModifierTest(unittest.TestCase):
         ent = ie.IntegratorEulerVectorDouble("ie")
         with self.assertRaises(dgpy.dgpyError) as cm:
             ent.initialize()
-        self.assertEqual(str(cm.exception),
-                         'In SignalPtr: SIN ptr not set. (in signal <sotIntegratorAbstract(ie)::input(vector)::sin>)')
+        self.assertEqual(
+            str(cm.exception),
+            'In SignalPtr: SIN ptr not set. (in signal <sotIntegratorAbstract(ie)::input(vector)::sin>)'
+        )
 
 
 if __name__ == '__main__':

tests/python/matrix-util.py

@@ -23,9 +23,12 @@ class MatrixUtilTest(unittest.TestCase):
     def test_rpy_tr(self):
         for rpy, tr in [
             ((0, 0, 0), mod.matrixToTuple(np.identity(4))),
-            ((np.pi, 0, 0), ((1, 0, 0, 0), (0, -1, 0, 0), (0, 0, -1, 0), (0, 0, 0, 1))),
-            ((0, np.pi, 0), ((-1, 0, 0, 0), (0, 1, 0, 0), (0, 0, -1, 0), (0, 0, 0, 1))),
-            ((0, 0, np.pi), ((-1, 0, 0, 0), (0, -1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1))),
+            ((np.pi, 0, 0), ((1, 0, 0, 0), (0, -1, 0, 0), (0, 0, -1, 0),
+                             (0, 0, 0, 1))),
+            ((0, np.pi, 0), ((-1, 0, 0, 0), (0, 1, 0, 0), (0, 0, -1, 0),
+                             (0, 0, 0, 1))),
+            ((0, 0, np.pi), ((-1, 0, 0, 0), (0, -1, 0, 0), (0, 0, 1, 0),
+                             (0, 0, 0, 1))),
         ]:
             np.testing.assert_allclose(tr, mod.rpy2tr(*rpy), atol=1e-15)
             # np.testing.assert_allclose(rpy, mod.tr2rpy(tr), atol=1e-15)
@@ -39,14 +42,18 @@ class MatrixUtilTest(unittest.TestCase):
         ]:
             np.testing.assert_allclose(rpy, mod.matrixToRPY(mat))
             # np.testing.assert_allclose(mat, mod.RPYToMatrix(rpy))
-            np.testing.assert_allclose(rpy, mod.matrixToRPY(mod.RPYToMatrix(rpy)))
+            np.testing.assert_allclose(rpy,
+                                       mod.matrixToRPY(mod.RPYToMatrix(rpy)))
             # np.testing.assert_allclose(mat, mod.RPYToMatrix(mod.matrixToRPY(mat)))
 
         def test_rotate(self):
             for axis, angle, mat in [
-                ('x', np.pi, ((1, 0, 0, 0), (0, -1, 0, 0), (0, 0, -1, 0), (0, 0, 0, 1))),
-                ('y', np.pi, ((-1, 0, 0, 0), (0, 1, 0, 0), (0, 0, -1, 0), (0, 0, 0, 1))),
-                ('z', np.pi, ((-1, 0, 0, 0), (0, -1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1))),
+                ('x', np.pi, ((1, 0, 0, 0), (0, -1, 0, 0), (0, 0, -1, 0),
+                              (0, 0, 0, 1))),
+                ('y', np.pi, ((-1, 0, 0, 0), (0, 1, 0, 0), (0, 0, -1, 0),
+                              (0, 0, 0, 1))),
+                ('z', np.pi, ((-1, 0, 0, 0), (0, -1, 0, 0), (0, 0, 1, 0),
+                              (0, 0, 0, 1))),
             ]:
                 self.assertEqual(mat, mod.rotate(axis, angle))
 
@@ -54,7 +61,8 @@ class MatrixUtilTest(unittest.TestCase):
             for quat, mat in [
                 ((0, 0, 0, 1), np.identity(3)),
                 ((0, 0, 1, 0), ((-1, 0, 0), (0, -1, 0), (0, 0, 1))),
-                ((0, -0.5, 0, 0.5), ((0.5, 0, -0.5), (0, 1, 0), (0.5, 0, 0.5))),
+                ((0, -0.5, 0, 0.5), ((0.5, 0, -0.5), (0, 1, 0), (0.5, 0,
+                                                                 0.5))),
             ]:
                 self.assertEqual(mat, mod.quaternionToMatrix(quat))
 

tests/python/op-point-modifier.py

@@ -7,17 +7,20 @@ import unittest
 import numpy as np
 from dynamic_graph.sot.core.op_point_modifier import OpPointModifier
 
-gaze = tuple(((1.0, 0.0, 0.0, 0.025000000000000001), (0.0, 1.0, 0.0, 0.0), (0.0, 0.0, 1.0, 0.64800000000000002),
-              (0.0, 0.0, 0.0, 1.0)))
+gaze = tuple(((1.0, 0.0, 0.0, 0.025000000000000001), (0.0, 1.0, 0.0, 0.0),
+              (0.0, 0.0, 1.0, 0.64800000000000002), (0.0, 0.0, 0.0, 1.0)))
 
 Jgaze = tuple(
-    ((1.0, 0.0, 0.0, 0.0, 0.64800000000000002, 0.0), (0.0, 1.0, 0.0, -0.64800000000000002, 0.0, 0.025000000000000001),
-     (0.0, 0.0, 1.0, 0.0, -0.025000000000000001,
-      0.0), (0.0, 0.0, 0.0, 1.0, 0.0, 0.0), (0.0, 0.0, 0.0, 0.0, 1.0, 0.0), (0.0, 0.0, 0.0, 0.0, 0.0, 1.0)))
+    ((1.0, 0.0, 0.0, 0.0, 0.64800000000000002,
+      0.0), (0.0, 1.0, 0.0, -0.64800000000000002, 0.0,
+             0.025000000000000001), (0.0, 0.0, 1.0, 0.0, -0.025000000000000001,
+                                     0.0), (0.0, 0.0, 0.0, 1.0, 0.0, 0.0),
+     (0.0, 0.0, 0.0, 0.0, 1.0, 0.0), (0.0, 0.0, 0.0, 0.0, 0.0, 1.0)))
 
 I4 = ((1., 0., 0., 0.), (0., 1., 0., 0.), (0., 0., 1., 0.), (0., 0., 0., 1.))
 
-I6 = ((1., 0., 0., 0., 0., 0.), (0., 1., 0., 0., 0., 0.), (0., 0., 1., 0., 0., 0.), (0., 0., 0., 1., 0., 0.),
+I6 = ((1., 0., 0., 0., 0., 0.), (0., 1., 0., 0., 0., 0.),
+      (0., 0., 1., 0., 0., 0.), (0., 0., 0., 1., 0., 0.),
       (0., 0., 0., 0., 1., 0.), (0., 0., 0., 0., 0., 1.))
 
 
@@ -39,7 +42,8 @@ class OpPointModifierTest(unittest.TestCase):
         ty = 22.
         tz = 33.
 
-        T = ((1., 0., 0., tx), (0., 1., 0., ty), (0., 0., 1., tz), (0., 0., 0., 1.))
+        T = ((1., 0., 0., tx), (0., 1., 0., ty), (0., 0., 1., tz), (0., 0., 0.,
+                                                                    1.))
 
         op = OpPointModifier('op2')
         op.setTransformation(T)
@@ -59,8 +63,10 @@ class OpPointModifierTest(unittest.TestCase):
         # Check w_M_s == w_M_s_ref
         self.assertEqual(np.equal(w_M_s, w_M_s_ref).all(), True)
 
-        twist = np.matrix([[1., 0., 0., 0., tz, -ty], [0., 1., 0., -tz, 0., tx], [0., 0., 1., ty, -tx, 0.],
-                           [0., 0., 0., 1., 0., 0.], [0., 0., 0., 0., 1., 0.], [0., 0., 0., 0., 0., 1.]])
+        twist = np.matrix([[1., 0., 0., 0., tz,
+                            -ty], [0., 1., 0., -tz, 0., tx],
+                           [0., 0., 1., ty, -tx, 0.], [0., 0., 0., 1., 0., 0.],
+                           [0., 0., 0., 0., 1., 0.], [0., 0., 0., 0., 0., 1.]])
 
         J = np.asmatrix(op.jacobian.value)
         J_ref = twist * Jgaze
@@ -69,7 +75,8 @@ class OpPointModifierTest(unittest.TestCase):
         self.assertEqual(np.equal(J, J_ref).all(), True)
 
     def test_rotation(self):
-        T = ((0., 0., 1., 0.), (0., -1., 0., 0.), (1., 0., 0., 0.), (0., 0., 0., 1.))
+        T = ((0., 0., 1., 0.), (0., -1., 0., 0.), (1., 0., 0., 0.), (0., 0.,