reformatted using black

Co-Evolve · Feb 9, 2024 · 1b21c4f · 1b21c4f
1 parent dd30780
commit 1b21c4f
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Showing 5 changed files with 111 additions and 222 deletions.
diff --git a/fprs/__init__.py b/fprs/__init__.py
@@ -4,9 +4,7 @@
 fprs_random_state = np.random.RandomState(seed=seed)
 
 
-def set_random_state(
-        seed_value: int
-        ) -> None:
+def set_random_state(seed_value: int) -> None:
     global seed, fprs_random_state
     seed = seed_value
     fprs_random_state.seed(seed_value)
diff --git a/fprs/parameters.py b/fprs/parameters.py
@@ -15,38 +15,25 @@ class Parameter(metaclass=abc.ABCMeta):
     Abstract base class for parameters.
     """
 
-    def __init__(
-            self,
-            value: T
-            ) -> None:
+    def __init__(self, value: T) -> None:
         self._value = value
 
     @property
     @abc.abstractmethod
-    def value(
-            self
-            ) -> T:
+    def value(self) -> T:
         raise NotImplementedError
 
-    def __eq__(
-            self,
-            other: Parameter
-            ) -> bool:
+    def __eq__(self, other: Parameter) -> bool:
         eq = self.value == other.value
         if isinstance(eq, Iterable):
             eq = all(eq)
         return eq
 
     @value.setter
-    def value(
-            self,
-            value
-            ) -> None:
+    def value(self, value) -> None:
         self._value = value
 
-    def set_random_value(
-            self
-            ) -> None:
+    def set_random_value(self) -> None:
         raise NotImplementedError
 
 
@@ -55,32 +42,21 @@ class FixedParameter(Parameter):
     Parameter that never changes its value.
     """
 
-    def __init__(
-            self,
-            value: T
-            ) -> None:
+    def __init__(self, value: T) -> None:
         super().__init__(value)
 
     @property
-    def value(
-            self
-            ) -> T:
+    def value(self) -> T:
         return self._value
 
-    def __eq__(
-            self,
-            other: Parameter
-            ) -> bool:
+    def __eq__(self, other: Parameter) -> bool:
         eq = self.value == other.value
         if isinstance(eq, Iterable):
             eq = all(eq)
         return eq
 
     @value.setter
-    def value(
-            self,
-            value
-            ) -> None:
+    def value(self, value) -> None:
         raise TypeError("Cannot change the value of a FixedParameter.")
 
 
@@ -89,33 +65,22 @@ class SynchronizedParameter(FixedParameter):
     Parameter that maintains the value of another parameter.
     """
 
-    def __init__(
-            self,
-            linked_parameter: Parameter
-            ) -> None:
+    def __init__(self, linked_parameter: Parameter) -> None:
         super().__init__(linked_parameter.value)
         self._linked_parameter = linked_parameter
 
     @property
-    def value(
-            self
-            ) -> T:
+    def value(self) -> T:
         return self._linked_parameter.value
 
-    def __eq__(
-            self,
-            other: Parameter
-            ) -> bool:
+    def __eq__(self, other: Parameter) -> bool:
         eq = self.value == other.value
         if isinstance(eq, Iterable):
             eq = all(eq)
         return eq
 
     @value.setter
-    def value(
-            self,
-            value
-            ) -> None:
+    def value(self, value) -> None:
         raise TypeError("Cannot set the value of a SynchronizedParameter directly.")
 
 
@@ -124,66 +89,47 @@ class ContinuousParameter(Parameter):
     boundaries will be generated."""
 
     def __init__(
-            self,
-            low: float = -1.0,
-            high: float = 1.0,
-            value: Optional[float] = None
-            ) -> None:
+        self, low: float = -1.0, high: float = 1.0, value: Optional[float] = None
+    ) -> None:
         super(ContinuousParameter, self).__init__(value=value)
         self.low = low
         self.high = high
 
     @property
-    def value(
-            self
-            ) -> float:
+    def value(self) -> float:
         if self._value is None:
             self.set_random_value()
 
         self._value = np.clip(self._value, self.low, self.high)
         return self._value
 
     @value.setter
-    def value(
-            self,
-            value
-            ) -> None:
+    def value(self, value) -> None:
         self._value = value
 
-    def set_random_value(
-            self
-            ) -> None:
+    def set_random_value(self) -> None:
         self._value = fprs_random_state.uniform(low=self.low, high=self.high)
 
 
 class DiscreteParameter(Parameter):
     """Parameter representing a discrete value from a given list of options."""
 
-    def __init__(
-            self,
-            options: List[T],
-            value: Optional[T] = None
-            ) -> None:
+    def __init__(self, options: List[T], value: Optional[T] = None) -> None:
         super(DiscreteParameter, self).__init__(value)
         self.options = options
 
     @property
-    def value(
-            self
-            ) -> T:
+    def value(self) -> T:
         if self._value is None:
             self.set_random_value()
         return self._value
 
     @value.setter
-    def value(
-            self,
-            value: T
-            ) -> None:
-        assert value in self.options, f"[DiscreteParameter] Given value '{value}' is not in options '{self.options}'"
+    def value(self, value: T) -> None:
+        assert (
+            value in self.options
+        ), f"[DiscreteParameter] Given value '{value}' is not in options '{self.options}'"
         self._value = value
 
-    def set_random_value(
-            self
-            ) -> None:
+    def set_random_value(self) -> None:
         self._value = fprs_random_state.choice(a=self.options)
diff --git a/fprs/robot.py b/fprs/robot.py
@@ -6,7 +6,11 @@
 
 import numpy as np
 
-from fprs.specification import ControllerSpecification, MorphologySpecification, RobotSpecification
+from fprs.specification import (
+    ControllerSpecification,
+    MorphologySpecification,
+    RobotSpecification,
+)
 
 Observations = TypeVar("Observations")
 Actions = TypeVar("Actions")
@@ -15,91 +19,62 @@
 class Robot(ABC):
     """Abstract base class for a robot, which expresses the combination of a Morphology and a Controller."""
 
-    def __init__(
-            self,
-            specification: RobotSpecification
-            ) -> None:
+    def __init__(self, specification: RobotSpecification) -> None:
         self._specification = specification
         self._morphology = None
         self._controller = None
 
     @property
-    def morphology(
-            self
-            ) -> Morphology:
+    def morphology(self) -> Morphology:
         if self._morphology is None:
             self._morphology = self._build_morphology()
         return self._morphology
 
     @property
-    def controller(
-            self
-            ) -> Controller:
+    def controller(self) -> Controller:
         if self._controller is None:
             self._controller = self._build_controller()
         return self._controller
 
     @abc.abstractmethod
-    def _build_morphology(
-            self
-            ) -> Morphology:
+    def _build_morphology(self) -> Morphology:
         raise NotImplementedError
 
     @abc.abstractmethod
-    def _build_controller(
-            self
-            ) -> Controller:
+    def _build_controller(self) -> Controller:
         raise NotImplementedError
 
     @property
-    def robot_specification(
-            self
-            ) -> RobotSpecification:
+    def robot_specification(self) -> RobotSpecification:
         return self._specification
 
-    def __call__(
-            self,
-            observations: Observations
-            ) -> Actions:
+    def __call__(self, observations: Observations) -> Actions:
         return self.controller(observations)
 
 
 class Morphology(ABC):
     """Abstract base class for a robot's Morphology."""
 
-    def __init__(
-            self,
-            specification: MorphologySpecification
-            ) -> None:
+    def __init__(self, specification: MorphologySpecification) -> None:
         self._specification = specification
 
     @property
-    def morphology_specification(
-            self
-            ) -> Morphology:
+    def morphology_specification(self) -> Morphology:
         return self._specification
 
 
 class Controller(ABC):
     """Abstract base class for a robot's Controller."""
 
-    def __init__(
-            self,
-            specification: ControllerSpecification
-            ) -> None:
+    def __init__(self, specification: ControllerSpecification) -> None:
         self._specification = specification
 
     @property
-    def controller_specification(
-            self
-            ) -> ControllerSpecification:
+    def controller_specification(self) -> ControllerSpecification:
         return self._specification
 
     @abc.abstractmethod
-    def __call__(
-            self,
-            observations: np.ndarray
-            ) -> np.ndarray:
+    def __call__(self, observations: np.ndarray) -> np.ndarray:
         """
         Returns actions based on given observations.