commit 26f7ad05d38281916cd6e28ca5cf68852ba65c41
author Ravago Jones <ravagojones@gmail.com> Fri Feb 05 15:45:59 2021 -0800
committer Ravago Jones <ravagojones@gmail.com> Fri Feb 05 15:45:59 2021 -0800
tree 4571785950ab4b5307308824c82fb68a067f9f8c
parent c69e679873de9733ec0f0a8649607382593eaeaf

Run yapf on Spline UI

Change-Id: Id09023a4e651fd041ea5acc9814e441780307336

frc971/control_loops/python/libspline.py

diff --git a/frc971/control_loops/python/libspline.py b/frc971/control_loops/python/libspline.py
index 24f1f51..8facbb5 100755
--- a/frc971/control_loops/python/libspline.py
+++ b/frc971/control_loops/python/libspline.py
@@ -34,6 +34,7 @@
 # Required for trajectory
 libSpline.SetUpLogging()
 
+
 class Spline:
     """
     A wrapper around spline.h/cc through libspline.cc.
@@ -44,9 +45,10 @@
     def __init__(self, points):
         assert points.shape == (2, 6)
         self.__points = points
-        self.__spline = ct.c_void_p(libSpline.NewSpline(
-            np.ctypeslib.as_ctypes(self.__points[0]),
-            np.ctypeslib.as_ctypes(self.__points[1])))
+        self.__spline = ct.c_void_p(
+            libSpline.NewSpline(
+                np.ctypeslib.as_ctypes(self.__points[0]),
+                np.ctypeslib.as_ctypes(self.__points[1])))
 
     def __del__(self):
         libSpline.deleteSpline(self.__spline)
@@ -55,9 +57,10 @@
         self.__points[0, index] = x
         self.__points[1, index] = y
         libSpline.deleteSpline(self.__spline)
-        self.__spline = ct.c_void_p(libSpline.newSpline(
-            np.ctypeslib.as_ctypes(self.__points[0]),
-            np.ctypeslib.as_ctypes(self.__points[1])))
+        self.__spline = ct.c_void_p(
+            libSpline.newSpline(
+                np.ctypeslib.as_ctypes(self.__points[0]),
+                np.ctypeslib.as_ctypes(self.__points[1])))
 
     def Point(self, alpha):
         result = np.zeros(2)
@@ -114,8 +117,8 @@
         spline_ptrs = np.array(spline_ptrs)
 
         spline_array = np.ctypeslib.as_ctypes(spline_ptrs)
-        self.__spline = ct.c_void_p(libSpline.NewDistanceSpline(
-            ct.byref(spline_array), len(splines)))
+        self.__spline = ct.c_void_p(
+            libSpline.NewDistanceSpline(ct.byref(spline_array), len(splines)))
 
     def __del__(self):
         libSpline.deleteDistanceSpline(self.__spline)
@@ -166,8 +169,9 @@
     """A wrapper around trajectory.h/cc through libspline.cc."""
 
     def __init__(self, distance_spline, vmax=10, num_distance=0):
-        self.__trajectory = ct.c_void_p(libSpline.NewTrajectory(
-            distance_spline.GetSplinePtr(), ct.c_double(vmax), num_distance))
+        self.__trajectory = ct.c_void_p(
+            libSpline.NewTrajectory(distance_spline.GetSplinePtr(),
+                                    ct.c_double(vmax), num_distance))
 
     def __del__(self):
         libSpline.deleteTrajectory(self.__trajectory)
@@ -243,7 +247,9 @@
         long it takes to run the path.
         This is slow so don't call more than once with the same data.
         """
-        XVAPtr = ct.c_void_p(libSpline.TrajectoryGetPlanXVAPtr(self.__trajectory, int(dt*1e9)))
+        XVAPtr = ct.c_void_p(
+            libSpline.TrajectoryGetPlanXVAPtr(self.__trajectory,
+                                              int(dt * 1e9)))
         XVALength = libSpline.TrajectoryGetVectorLength(XVAPtr)
         X = np.zeros(XVALength)
         V = np.zeros(XVALength)