Apply #464 on hppfcl3x (#465)

* ruff --fix . * add previous commit to git-blame-ignore-revs * manual ruff fixes * pre-commit-sort * pre-commit: add ruff * black . * add previous commit to git-blame-ignore-revs * README: add black & ruff badges * fix noqa * pre-commit autoupdate * pre-commit run -a
coal-library · Nov 12, 2023 · 1cdd6e8 · 1cdd6e8
1 parent 7dcc8e5
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diff --git a/.git-blame-ignore-revs b/.git-blame-ignore-revs
@@ -1,2 +1,6 @@
 0067c8aa66aac548601e2a3fd029aa264cc59f2a
 76b68f785df31b00e153290b45ec290a9c5f7963
+# ruff --fix . (Guilhem Saurel, 2023-10-25)
+02cef56abfacee590c8444fd379c8837bf007fa1
+# black . (Guilhem Saurel, 2023-10-25)
+febfbcbe9c98cdb4e0c7bbf4554a6925b391834b
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,16 +1,24 @@
 ci:
-    autoupdate_branch: 'devel'
+  autoupdate_branch: devel
 repos:
--   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.6
-    hooks:
-    -   id: clang-format
-        args: ['--style={BasedOnStyle: Google, SortIncludes: false}']
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
-    hooks:
-    -   id: trailing-whitespace
--   repo: https://github.com/psf/black
-    rev: 23.9.1
-    hooks:
-    -   id: black
+- repo: https://github.com/charliermarsh/ruff-pre-commit
+  rev: v0.1.2
+  hooks:
+  - id: ruff
+    args:
+    - --fix
+    - --exit-non-zero-on-fix
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v17.0.3
+  hooks:
+  - id: clang-format
+    args:
+    - '--style={BasedOnStyle: Google, SortIncludes: false}'
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.5.0
+  hooks:
+  - id: trailing-whitespace
+- repo: https://github.com/psf/black
+  rev: 23.10.1
+  hooks:
+  - id: black
diff --git a/README.md b/README.md
@@ -1,5 +1,4 @@
-HPP-FCL — An extension of the Flexible Collision Library
-=======
+# HPP-FCL — An extension of the Flexible Collision Library
 
 <p align="center">
   <a href="https://gepgitlab.laas.fr/humanoid-path-planner/hpp-fcl/commits/master/"><img src="https://gepgitlab.laas.fr/humanoid-path-planner/hpp-fcl/badges/master/pipeline.svg" alt="Pipeline status"/></a>
@@ -8,6 +7,8 @@ HPP-FCL — An extension of the Flexible Collision Library
   <a href="https://anaconda.org/conda-forge/hpp-fcl"><img src="https://img.shields.io/conda/dn/conda-forge/hpp-fcl.svg" alt="Conda Downloads"/></a>
   <a href="https://anaconda.org/conda-forge/hpp-fcl"><img src="https://img.shields.io/conda/vn/conda-forge/hpp-fcl.svg" alt="Conda Version"/></a>
   <a href="https://badge.fury.io/py/hpp-fcl"><img src="https://badge.fury.io/py/hpp-fcl.svg" alt="PyPI version"></a>
+  <a href="https://github.com/psf/black"><img alt="black" src="https://img.shields.io/badge/code%20style-black-000000.svg"></a>
+  <a href="https://github.com/astral-sh/ruff"><img alt="ruff" src="https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json"></a>
 </p>
 
 [FCL](https://github.com/flexible-collision-library/fcl) was forked in 2015. Since then, a large part of the code has been rewritten or removed (for the unused and untested part).
@@ -37,4 +38,3 @@ Unlike the original FCL library, HPP-FCL implements the well-established GJK alg
 ## Acknowledgments
 
 The development of **HPP-FCL** is actively supported by the [Gepetto team](http://projects.laas.fr/gepetto/) [@LAAS-CNRS](http://www.laas.fr), the [Willow team](https://www.di.ens.fr/willow/) [@INRIA](http://www.inria.fr) and, to some extend, [Eureka Robotics](https://eurekarobotics.com/).
-
diff --git a/doc/generate_distance_plot.py b/doc/generate_distance_plot.py
@@ -1,6 +1,5 @@
 import matplotlib.pyplot as plt
 import numpy as np
-from math import sqrt
 
 interactive = False
 

diff --git a/doc/gjk.py b/doc/gjk.py
@@ -10,7 +10,8 @@
 edge_fmt = "{j}a * {b}a_{c}a + {j}{b} * {c}a_aa - {j}{c} * {b}a_aa"
 
 # These checks must be negative and not positive, as in the cheat sheet.
-# They are the same as in the cheat sheet, except that we consider (...).dot(A) instead of (...).dot(-A)
+# They are the same as in the cheat sheet, except that we consider (...).dot(A)
+# instead of (...).dot(-A)
 plane_tests = ["C.dot (a_cross_b)", "D.dot(a_cross_c)", "-D.dot(a_cross_b)"]
 checks = (
     plane_tests
@@ -247,9 +248,9 @@
 def set_test_values(current_tests, test_values, itest, value):
     def satisfies(values, indices):
         for k in indices:
-            if k > 0 and values[k - 1] != True:
+            if k > 0 and values[k - 1] is not True:
                 return False
-            if k < 0 and values[-k - 1] != False:
+            if k < 0 and values[-k - 1] is not False:
                 return False
         return True
 
@@ -286,17 +287,17 @@ def set_tests_values(current_tests, test_values, itests, values):
 def apply_test_values(cases, test_values):
     def canSatisfy(values, indices):
         for k in indices:
-            if k > 0 and values[k - 1] == False:
+            if k > 0 and values[k - 1] is False:
                 return False
-            if k < 0 and values[-k - 1] == True:
+            if k < 0 and values[-k - 1] is True:
                 return False
         return True
 
     def satisfies(values, indices):
         for k in indices:
-            if k > 0 and values[k - 1] != True:
+            if k > 0 and values[k - 1] is not True:
                 return False
-            if k < 0 and values[-k - 1] != False:
+            if k < 0 and values[-k - 1] is not False:
                 return False
         return True
 
@@ -337,7 +338,7 @@ def max_number_of_tests(
     prevScore=0,
 ):
     for test in current_tests:
-        assert test_values[test] == None, "Test " + str(test) + " already performed"
+        assert test_values[test] is None, "Test " + str(test) + " already performed"
 
     left_cases = apply_test_values(cases, test_values)
 
@@ -375,7 +376,8 @@ def max_number_of_tests(
             remaining_tests = None
 
         if remaining_tests is not None:
-            # Do not put this in try catch as I do not want other ValueError to be understood as an infeasible branch.
+            # Do not put this in try catch as I do not want other ValueError to be
+            # understood as an infeasible branch.
             score_if_t, order_if_t = max_number_of_tests(
                 remaining_tests,
                 left_cases,
@@ -396,7 +398,8 @@ def max_number_of_tests(
             remaining_tests = None
 
         if remaining_tests is not None:
-            # Do not put this in try catch as I do not want other ValueError to be understood as an infeasible branch.
+            # Do not put this in try catch as I do not want other ValueError to be
+            # understood as an infeasible branch.
             score_if_f, order_if_f = max_number_of_tests(
                 remaining_tests,
                 left_cases,
@@ -438,37 +441,37 @@ def printOrder(order, indent="", start=True, file=sys.stdout, curTests=[]):
             file=file,
         )
         print(indent + "const vertex_id_t a = 3, b = 2, c = 1, d = 0;", file=file)
-        for l in "abcd":
+        for v in "abcd":
             print(
                 indent
-                + "const Vec3f& {} (current.vertex[{}]->w);".format(l.upper(), l),
+                + "const Vec3f& {} (current.vertex[{}]->w);".format(v.upper(), v),
                 file=file,
             )
-        print(indent + "const FCL_REAL aa = A.squaredNorm();".format(l), file=file)
-        for l in "dcb":
+        print(indent + "const FCL_REAL aa = A.squaredNorm();".format(), file=file)
+        for v in "dcb":
             for m in "abcd":
-                if m <= l:
+                if m <= v:
                     print(
                         indent
                         + "const FCL_REAL {0}{1}    = {2}.dot({3});".format(
-                            l, m, l.upper(), m.upper()
+                            v, m, v.upper(), m.upper()
                         ),
                         file=file,
                     )
                 else:
                     print(
-                        indent + "const FCL_REAL& {0}{1}    = {1}{0};".format(l, m),
+                        indent + "const FCL_REAL& {0}{1}    = {1}{0};".format(v, m),
                         file=file,
                     )
-            print(indent + "const FCL_REAL {0}a_aa = {0}a - aa;".format(l), file=file)
+            print(indent + "const FCL_REAL {0}a_aa = {0}a - aa;".format(v), file=file)
         for l0, l1 in zip("bcd", "cdb"):
             print(
                 indent + "const FCL_REAL {0}a_{1}a = {0}a - {1}a;".format(l0, l1),
                 file=file,
             )
-        for l in "bc":
+        for v in "bc":
             print(
-                indent + "const Vec3f a_cross_{0} = A.cross({1});".format(l, l.upper()),
+                indent + "const Vec3f a_cross_{0} = A.cross({1});".format(v, v.upper()),
                 file=file,
             )
         print("", file=file)
@@ -502,15 +505,12 @@ def printOrder(order, indent="", start=True, file=sys.stdout, curTests=[]):
         elif region == "A":
             print(indent + "originToPoint (current, a, A, next, ray);", file=file)
         elif len(region) == 2:
-            a = region[0]
+            region[0]
             B = region[1]
             print(
-                indent
-                + "originToSegment (current, a, {b}, A, {B}, {B}-A, -{b}a_aa, next, ray);".format(
-                    **{
-                        "b": B.lower(),
-                        "B": B,
-                    }
+                indent + "originToSegment "
+                "(current, a, {b}, A, {B}, {B}-A, -{b}a_aa, next, ray);".format(
+                    **{"b": B.lower(), "B": B}
                 ),
                 file=file,
             )
@@ -524,8 +524,8 @@ def printOrder(order, indent="", start=True, file=sys.stdout, curTests=[]):
             else:
                 test = "-" + test
             print(
-                indent
-                + "originToTriangle (current, a, {b}, {c}, ({B}-A).cross({C}-A), {t}, next, ray);".format(
+                indent + "originToTriangle "
+                "(current, a, {b}, {c}, ({B}-A).cross({C}-A), {t}, next, ray);".format(
                     **{"b": B.lower(), "c": C.lower(), "B": B, "C": C, "t": test}
                 ),
                 file=file,

diff --git a/doc/python/doxygen_xml_parser.py b/doc/python/doxygen_xml_parser.py
@@ -1,4 +1,5 @@
 #!/usr/bin/python3
+# ruff: noqa: E501
 
 from __future__ import print_function
 from lxml import etree
@@ -120,8 +121,6 @@ def _templateParamToDict(param):
 
 
 def makeHeaderGuard(filename):
-    import os
-
     return filename.upper().replace(".", "_").replace("/", "_").replace("-", "_")
 
 
@@ -326,8 +325,6 @@ def getdeclname(i, declname):
         return ", ".join([arg.format(n) for n in argnames])
 
     def include(self):
-        import os.path
-
         loc = self.xml.find("location")
         # The location is based on $CMAKE_SOURCE_DIR. Remove first directory.
         return loc.attrib["file"].split("/", 1)[1]
@@ -705,8 +702,6 @@ def parseCompound(self):
 
     def write(self):
         # Header
-        from os.path import abspath, dirname
-        from time import asctime
 
         self.output.open("doxygen_xml_parser_for_cmake.hh")
         # self.output.out ("// Generated on {}".format (asctime()))
@@ -821,7 +816,7 @@ def __init__(self, output_dir, warn, error, errorPrefix=""):
         self._created_files = dict()
 
     def open(self, name):
-        assert self._out == None, "You did not close the previous file"
+        assert self._out is None, "You did not close the previous file"
         import os
 
         fullname = os.path.join(self.output_dir, name)
@@ -895,4 +890,4 @@ def err(self, *args):
     index.parseCompound()
     index.write()
     index.output.writeFooterAndCloseFiles()
-    assert index.output._out == None
+    assert index.output._out is None
diff --git a/doc/python/xml_docstring.py b/doc/python/xml_docstring.py
@@ -59,14 +59,14 @@ def _newline(self, n=1):
 
     def _clean(self):
         s = 0
-        for l in self.lines:
-            if len(l.strip()) == 0:
+        for line in self.lines:
+            if len(line.strip()) == 0:
                 s += 1
             else:
                 break
         e = len(self.lines)
-        for l in reversed(self.lines):
-            if len(l.strip()) == 0:
+        for line in reversed(self.lines):
+            if len(line.strip()) == 0:
                 e -= 1
             else:
                 break
@@ -80,7 +80,7 @@ def getDocString(self, brief, detailled, output):
             if brief is not None:
                 self._newline()
             self.visit(detailled)
-        from sys import stdout, stderr, version_info
+        from sys import version_info
 
         self.writeErrors(output)
         self._clean()

diff --git a/python/hppfcl/__init__.py b/python/hppfcl/__init__.py
@@ -31,5 +31,6 @@
 #  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 #  POSSIBILITY OF SUCH DAMAGE.
 
+# ruff: noqa: F401, F403
 from .hppfcl import *
-from .hppfcl import __version__, __raw_version__
+from .hppfcl import __raw_version__, __version__
diff --git a/python/hppfcl/viewer.py b/python/hppfcl/viewer.py
@@ -3,9 +3,13 @@
 #  Copyright (c) 2019 CNRS
 #  Author: Joseph Mirabel
 
-import hppfcl, numpy as np
+import warnings
+
+import numpy as np
 from gepetto import Color
 
+import hppfcl
+
 
 def applyConfiguration(gui, name, tf):
     gui.applyConfiguration(
@@ -43,10 +47,7 @@ def displayShape(gui, name, geom, color=(0.9, 0.9, 0.9, 1.0)):
         gui.setLightingMode(name, "OFF")
         return True
     else:
-        msg = "Unsupported geometry type for %s (%s)" % (
-            geometry_object.name,
-            type(geom),
-        )
+        msg = "Unsupported geometry type for %s (%s)" % (name, type(geom))
         warnings.warn(msg, category=UserWarning, stacklevel=2)
         return False
 

diff --git a/python/pickle.hh b/python/pickle.hh
@@ -24,7 +24,7 @@ struct PickleObject : boost::python::pickle_suite {
   static boost::python::tuple getstate(const T& obj) {
     std::stringstream ss;
     boost::archive::text_oarchive oa(ss);
-    oa& obj;
+    oa & obj;
 
     return boost::python::make_tuple(boost::python::str(ss.str()));
   }

diff --git a/test/python_unit/geometric_shapes.py b/test/python_unit/geometric_shapes.py
@@ -167,11 +167,11 @@ def test_convex(self):
             ]
         )
         faces.append(hppfcl.Triangle(0, 1, 2))
-        convex = hppfcl.Convex(verts, faces)
+        hppfcl.Convex(verts, faces)
 
         verts.append(np.array([0, 0, 1]))
         try:
-            convexHull = hppfcl.Convex.convexHull(verts, False, None)
+            hppfcl.Convex.convexHull(verts, False, None)
             qhullAvailable = True
         except Exception as e:
             self.assertEqual(
@@ -180,11 +180,11 @@ def test_convex(self):
             qhullAvailable = False
 
         if qhullAvailable:
-            convexHull = hppfcl.Convex.convexHull(verts, False, "")
-            convexHull = hppfcl.Convex.convexHull(verts, True, "")
+            hppfcl.Convex.convexHull(verts, False, "")
+            hppfcl.Convex.convexHull(verts, True, "")
 
             try:
-                convexHull = hppfcl.Convex.convexHull(verts[:3], False, None)
+                hppfcl.Convex.convexHull(verts[:3], False, None)
             except Exception as e:
                 self.assertIn(
                     str(e), "You shouldn't use this function with less than 4 points."

diff --git a/test/scripts/collision-bench.py b/test/scripts/collision-bench.py
@@ -1,6 +1,7 @@
+import csv
+import sys
+
 import matplotlib.pyplot as plt
-import csv, sys, numpy as np
-from math import sqrt
 
 filename = sys.argv[1]
 
@@ -43,8 +44,8 @@
 idx_reorder = sorted(list(range(len(xvals))), key=lambda i: xvals[i])
 
 
-def reorder(l):
-    return [l[i] for i in idx_reorder]
+def reorder(v):
+    return [v[i] for i in idx_reorder]
 
 
 xvals_s = reorder(xvals)