pre-commit changes

docking_control/src/actag_code.py

@@ -1,25 +1,26 @@
 #!/usr/bin/env python3.12
 
 from actag import AcTag
+
 # import rospy
 
 
 class AcTagDetection:
-  def __init__(self):
-      # Initialize the AcTag Detector
-      self.detector = AcTag(
-          min_range=0.1,
-          max_range=1.5,
-          horizontal_aperture=1.0472,
-          tag_family="AcTag24h10",
-          tag_size=0.130628571428644,
-          quads_use_same_random_vals=True,
-      )
+    def __init__(self):
+        # Initialize the AcTag Detector
+        self.detector = AcTag(
+            min_range=0.1,
+            max_range=1.5,
+            horizontal_aperture=1.0472,
+            tag_family="AcTag24h10",
+            tag_size=0.130628571428644,
+            quads_use_same_random_vals=True,
+        )
 
-  def detect_tags(self, sonar_image):
-      # Detect AcTags in the sonar image
-      detected_tags = self.detector.detect_tags(sonar_image)
-      return detected_tags
+    def detect_tags(self, sonar_image):
+        # Detect AcTags in the sonar image
+        detected_tags = self.detector.detect_tags(sonar_image)
+        return detected_tags
 
 
 # if __name__ == "__main__":

docking_control/src/actag_detect.py

@@ -1,13 +1,15 @@
 #!/usr/bin/env python3.10
 
 import yaml
+
 # from actag_code import AcTagDetection
 from actag import AcTag
 import rospy
 import os
 import cv2
 import math
 import numpy as np
+
 # import video as video
 from cv_bridge import CvBridge, CvBridgeError
 from sensor_msgs.msg import Image
@@ -23,7 +25,6 @@
 # Helper function that parses AcTag detection data
 # and prints the results
 def parse_and_print_results(detected_tags):
-
     num_detected_tags = len(detected_tags)
     print("Number of Detected Tags: ", num_detected_tags)
 
@@ -37,32 +38,31 @@ def parse_and_print_results(detected_tags):
 
 # This helper function draws the detected tags onto the image
 def visualize_decoded_tags(my_sonar_image, detected_tags):
-
     output_image = cv2.cvtColor(my_sonar_image, cv2.COLOR_GRAY2RGB)
     for detected_tag in detected_tags:
         # Extract corner points
         corner_locs = detected_tag[1]
         ptA = (corner_locs[0][0], corner_locs[0][1])
         ptB = (corner_locs[1][0], corner_locs[1][1])
         ptC = (corner_locs[2][0], corner_locs[2][1])
-        ptD = (corner_locs[3][0], corner_locs[3][1])
+        pdf = (corner_locs[3][0], corner_locs[3][1])
 
         # Reverse x and y to get the correct orientation with cv2.imshow()
         ptA = (ptA[1], ptA[0])
         ptB = (ptB[1], ptB[0])
         ptC = (ptC[1], ptC[0])
-        ptD = (ptD[1], ptD[0])
+        pdf = (pdf[1], pdf[0])
 
         # Draw the bounding box of the AcTag Square
         color = (0, 255, 0)
         cv2.line(output_image, ptA, ptB, color, 1)
         cv2.putText(output_image, "1", ptA, cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 1)
         cv2.line(output_image, ptB, ptC, color, 1)
         cv2.putText(output_image, "2", ptB, cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 1)
-        cv2.line(output_image, ptC, ptD, color, 1)
+        cv2.line(output_image, ptC, pdf, color, 1)
         cv2.putText(output_image, "3", ptC, cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 1)
-        cv2.line(output_image, ptD, ptA, color, 1)
-        cv2.putText(output_image, "4", ptD, cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 1)
+        cv2.line(output_image, pdf, ptA, color, 1)
+        cv2.putText(output_image, "4", pdf, cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 1)
 
         # Put the Tag ID in the center
         center = (int((ptA[0] + ptC[0]) / 2), int((ptA[1] + ptC[1]) / 2))

docking_control/utils/compute_hydrodynamics.py

@@ -1,16 +1,18 @@
 import capytaine as cpt
 import os
-from numpy import inf
 
 
 cwd = os.path.dirname(__file__)
-cpt.set_logging('INFO')
+cpt.set_logging("INFO")
 mesh_filepath = cwd + "/../model/bluerov2_custom/bluerov2_custom.stl"
-mesh = cpt.load_mesh(mesh_filepath, file_format='stl')
+mesh = cpt.load_mesh(mesh_filepath, file_format="stl")
 
 # rov = cpt.FloatingBody(mesh=mesh)
 # print(rov.dofs.keys())
-# problem = cpt.RadiationProblem(body=rov, omega=inf, free_surface=inf, radiating_dof="Heave")
+# problem = cpt.RadiationProblem(body=rov,
+#                                omega=inf,
+#                                free_surface=inf,
+#                                radiating_dof="Heave")
 
 # solver = cpt.BEMSolver()
 # result = solver.solve(problem)