style(pre-commit): autofix

autowarefoundation · Jun 10, 2024 · d55fd7a · d55fd7a
1 parent dff71b2
commit d55fd7a
Showing 1 changed file with 21 additions and 9 deletions.
diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer_v2.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer_v2.py
@@ -37,7 +37,9 @@ def __init__(self, args):
         self.rosbag_ego_odom_search_radius = (
             args.search_radius
         )  # (m) the range of the ego odom to search,
-        self.ego_odom_search_radius = self.rosbag_ego_odom_search_radius # it may be set by an individual parameter.
+        self.ego_odom_search_radius = (
+            self.rosbag_ego_odom_search_radius
+        )  # it may be set by an individual parameter.
 
         self.reproduce_cool_down = (
             args.reproduce_cool_down
@@ -115,11 +117,17 @@ def on_timer(self):
         ):
             # find the nearest ego odom by simulation observation
             self.stopwatch.tic("find_nearest_ego_odom_by_observation")
-            nearby_ego_odom_indies = self.find_nearby_ego_odom_indies([self.ego_pose], self.ego_odom_search_radius)
-            nearby_ego_odom_indies = [self.rosbag_ego_odom_data[idx][1].pose.pose for idx in nearby_ego_odom_indies]
+            nearby_ego_odom_indies = self.find_nearby_ego_odom_indies(
+                [self.ego_pose], self.ego_odom_search_radius
+            )
+            nearby_ego_odom_indies = [
+                self.rosbag_ego_odom_data[idx][1].pose.pose for idx in nearby_ego_odom_indies
+            ]
             if not nearby_ego_odom_indies:
                 nearest_ego_odom_ind = self.find_nearest_ego_odom_index(self.ego_pose)
-                nearby_ego_odom_indies += [self.rosbag_ego_odom_data[nearest_ego_odom_ind][1].pose.pose]
+                nearby_ego_odom_indies += [
+                    self.rosbag_ego_odom_data[nearest_ego_odom_ind][1].pose.pose
+                ]
             self.stopwatch.toc("find_nearest_ego_odom_by_observation")
 
             # find a list of ego odom around the nearest_ego_odom_pos.
@@ -140,10 +148,12 @@ def on_timer(self):
                     break
 
             self.stopwatch.tic("update reproduce_sequence")
-            ego_odom_indices = [idx for idx in ego_odom_indices if idx not in self.cool_down_indices]
+            ego_odom_indices = [
+                idx for idx in ego_odom_indices if idx not in self.cool_down_indices
+            ]
             ego_odom_indices = sorted(ego_odom_indices)
             self.reproduce_sequence_indices = deque(ego_odom_indices)
-            
+
             self.stopwatch.toc("update reproduce_sequence")
 
         self.prev_ego_pos = self.ego_pose
@@ -157,8 +167,8 @@ def on_timer(self):
             self.stopwatch.tic("find_topics_by_timestamp")
             objects_msg, traffic_signals_msg = self.find_topics_by_timestamp(pose_timestamp)
             self.stopwatch.toc("find_topics_by_timestamp")
-            if True:#self.args.verbose:
-                print('reproduce_sequence_indices: ',list(self.reproduce_sequence_indices)[:30])
+            if True:  # self.args.verbose:
+                print("reproduce_sequence_indices: ", list(self.reproduce_sequence_indices)[:30])
 
         else:  # get perv data to publish if reproduce_sequence is empty.
             ego_odom_msg = self.prev_ego_odom_msg
@@ -231,7 +241,9 @@ def find_nearby_ego_odom_indies(self, ego_poses, search_radius: float):
             search_radius: the radius to search around the ego_poses.
         """
         ego_poses_np = np.array([[pose.position.x, pose.position.y] for pose in ego_poses])
-        dists_squared = np.sum((self.rosbag_ego_odom_data_numpy[:, None] - ego_poses_np) ** 2, axis=2)
+        dists_squared = np.sum(
+            (self.rosbag_ego_odom_data_numpy[:, None] - ego_poses_np) ** 2, axis=2
+        )
         nearby_indices = np.where(np.any(dists_squared <= search_radius**2, axis=1))[0]
 
         return nearby_indices