Cleans up some code

- Updates formatting to match PEP8 standard  for the ado filter python script.
- Removes unused imports for ado filter python script.

script/game_ado_vehicle_filter.py

@@ -9,8 +9,7 @@
 from std_msgs.msg import Header, ColorRGBA
 
 import numpy as np
-import math
-import random
+
 
 class GameAdoCarFilter(object):
     '''
@@ -24,7 +23,7 @@ class GameAdoCarFilter(object):
     def __init__(self):
         '''
         Initializes the class.
-        
+
         Note: If self.enable_lane_filter is set to true, the filter will take
         into account the lane in which the ado object is present.
         '''
@@ -79,12 +78,11 @@ def __init__(self):
         # Class timer
         self.timer = rospy.Timer(rospy.Duration(0.1), self.timer_cb)
 
-
     def ego_vehicle_cb(self, msg):
         '''
         This is a callback for the ego vehicle that fills out the ego vehicle's
         odometry information and set the ego_ready variable.
-        
+
         Parameters
         ----------
         msg : Odometry
@@ -95,12 +93,11 @@ def ego_vehicle_cb(self, msg):
         if not self.ego_ready:
             self.ego_ready = True
 
-
     def nearby_car_cb(self, msg):
         '''
-        This is a callback that fills out the nearby objects for the ego vehicle
-        and set the nearby_ready variable.
-        
+        This is a callback that fills out the nearby objects for the ego
+        vehicle and set the nearby_ready variable.
+
         Parameters
         ----------
         msg : ObjectArray
@@ -112,13 +109,12 @@ def nearby_car_cb(self, msg):
         if not self.nearby_ready:
             self.nearby_ready = True
 
-
     def timer_cb(self, event):
         '''
-        This is a callback for the class timer, which will be called every tick.
-        The callback will filter out objects not relevant to the ego vehicle and
-        publish to the ROS topics defined in the class.
-        
+        This is a callback for the class timer, which will be called every
+        tick. The callback will filter out objects not relevant to the ego
+        vehicle and publish to the ROS topics defined in the class.
+
         Parameters
         ----------
         event : rospy.TimerEvent
@@ -128,7 +124,7 @@ def relevant_filter(pos_x, pos_y, yaw, object):
             '''
             Determines if the object is in the circle and relevant to the
             current ego position.
-            
+
             Parameters
             ----------
             pos_x : float64
@@ -139,7 +135,7 @@ def relevant_filter(pos_x, pos_y, yaw, object):
                 The yaw, heading, of the ego vehicle.
             object : derived_object_msgs.Object
                 The converted Carla object.
-            
+
             Returns
             -------
             bool, int, float
@@ -191,7 +187,7 @@ def relevant_filter(pos_x, pos_y, yaw, object):
             # Object's relative postion is relevant
             if (
                 distance_tangent > -15 and
-                distance_tangent < 25 and 
+                distance_tangent < 25 and
                 abs(distance_normal) < 25
             ):
                 if distance_tangent > 0:
@@ -201,18 +197,17 @@ def relevant_filter(pos_x, pos_y, yaw, object):
                     rospy.logdebug("Ado object %d is behind.", object.id)
                     return True, 0, np.linalg.norm(ori_rel)
 
-            # Object is in the circle, but not relevant to ego location 
+            # Object is in the circle, but not relevant to ego location
             rospy.logdebug("Ado object %d is not relevant.", object.id)
             return False, 0, 0
 
-
         def relevant_filter_entrance(pos_x, pos_y, object):
             '''
             Determines if the object is trying to enter the circle and relevant
             to the current ego position. The filter will take into account
             whether the object is ahead of the ego and whether to base its
             relevancy on the object's current lane.
-            
+
             Parameters
             ----------
             pos_x : float64
@@ -221,7 +216,7 @@ def relevant_filter_entrance(pos_x, pos_y, object):
                 The y location of the ego vehicle.
             object : derived_object_msgs.Object
                 The converted Carla object.
-            
+
             Returns
             -------
             bool
@@ -239,14 +234,14 @@ def relevant_filter_entrance(pos_x, pos_y, object):
                         return True
                     return False
                 elif pos_x <= 0 and pos_y >= 0:
-                    if (pos_car[0] < -20 and pos_car[1]< 0):
+                    if (pos_car[0] < -20 and pos_car[1] < 0):
                         return True
                     return False
                 else:
                     if pos_car[0] > 0 and pos_car[1] < -20:
                         return True
                     return False
-            else: #TODO: Update to use waypoint information
+            else:  # TODO: Update to use waypoint information
                 if pos_x > 0 and pos_y < 0:
                     if (pos_car[0] > 15 and pos_car[1] > 0 and pos_car[1] < 7):
                         return True
@@ -273,7 +268,7 @@ def relevant_filter_entrance(pos_x, pos_y, object):
                     if (
                         (
                             pos_car[0] > 0 and
-                            pos_car[0] < 5 and 
+                            pos_car[0] < 5 and
                             pos_car[1] < -20
                         ) or
                         (
@@ -287,7 +282,6 @@ def relevant_filter_entrance(pos_x, pos_y, object):
 
                     return False
 
-
         if self.ego_ready and self.nearby_ready:
             self.ego_odom_pub.publish(self.ego_odom)
 
@@ -378,11 +372,10 @@ def relevant_filter_entrance(pos_x, pos_y, object):
             color_opp = ColorRGBA(1.0, 0.0, 0.0, 1.0)
             self.viz_cars([ado_object], header, color_opp, self.ado_marker_pub)
 
-
     def viz_cars(self, obj_list, header, color_rgba, publisher):
         '''
         Publish objects to the provied rviz publisher.
-        
+
         Parameters
         ----------
         obj_list : [Objects]