Fixed pylint warnings

CMU-Robotics-Club · Mar 5, 2024 · afe6172 · afe6172
1 parent 5acac83
commit afe6172
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Showing 3 changed files with 14 additions and 22 deletions.
diff --git a/rb_ws/src/buggy/scripts/auton/model_predictive_controller.py b/rb_ws/src/buggy/scripts/auton/model_predictive_controller.py
@@ -515,19 +515,19 @@ def compute_trajectory(self, current_pose: Pose, trajectory: Trajectory, current
         # p is the position of NAND in x-y space
 
         n = np.array([100, 100])
-        p = np.array([0, 1])
+        # p = np.array([0, 1])
         c = np.concatenate((n, np.zeros((2, )))).reshape(1, self.N_STATES)
 
-        C2 = sparse.kron(
-            np.eye(self.MPC_HORIZON),
-            np.hstack(
-                (
-                    np.zeros((1, self.N_CONTROLS)),
-                    c
-                )
-            ),
-            format="csc",
-        )
+        # C2 = sparse.kron(
+        #     np.eye(self.MPC_HORIZON),
+        #     np.hstack(
+        #         (
+        #             np.zeros((1, self.N_CONTROLS)),
+        #             c
+        #         )
+        #     ),
+        #     format="csc",
+        # )
 
         D = sparse.vstack([self.C + C1, self.X, self.U])
         # D = sparse.vstack([self.C + C1, self.X, self.U, C2])

diff --git a/rb_ws/src/buggy/scripts/auton/publish_rtk_err.py b/rb_ws/src/buggy/scripts/auton/publish_rtk_err.py
@@ -1,16 +1,10 @@
 #!/usr/bin/env python3
 
-
-from abc import ABC, abstractmethod
-
 from threading import Lock
-import sys
-
 import numpy as np
 
 import rospy
 from nav_msgs.msg import Odometry
-from sensor_msgs.msg import NavSatFix
 from geometry_msgs.msg import PoseStamped
 from std_msgs.msg import Float64
 from pose import Pose

diff --git a/rb_ws/src/buggy/scripts/debug/debug_steer.py b/rb_ws/src/buggy/scripts/debug/debug_steer.py
@@ -1,7 +1,5 @@
 #!/usr/bin/env python3
 
-from abc import ABC, abstractmethod
-
 import rospy
 from std_msgs.msg import Float64
 
@@ -28,8 +26,8 @@ def loop(self):
             if (add):
                 steer_cmd += 18 / 100
             else:
-                steer_cmd -= 18 / 100 
-            
+                steer_cmd -= 18 / 100
+
             self.steer_publisher.publish(Float64(steer_cmd))
 
             tick_count += 1
@@ -38,7 +36,7 @@ def loop(self):
 
             if (steer_cmd >= 18):
                 add = False
-            
+
             if (steer_cmd <= -18):
                 add = True
             rate.sleep()