more lgtm fixes

Author: jhavl

roboticstoolbox/backends/PyPlot/PyPlot.py

@@ -20,7 +20,7 @@
 try:
     import matplotlib
     import matplotlib.pyplot as plt
-    from mpl_toolkits.mplot3d import Axes3D
+    # from mpl_toolkits.mplot3d import Axes3D
     from matplotlib.widgets import Slider
 
     matplotlib.rcParams["pdf.fonttype"] = 42

roboticstoolbox/blocks/arm.py

@@ -1,7 +1,7 @@
 import numpy as np
-from math import sin, cos, atan2, tan, sqrt, pi
+from math import sin, cos, pi
 
-import matplotlib.pyplot as plt
+# import matplotlib.pyplot as plt
 import time
 from spatialmath import base, SE3
 

roboticstoolbox/mobile/Animations.py

@@ -2,11 +2,10 @@
 @Author: Peter Corke, original MATLAB code and Python version
 @Author: Kristian Gibson, initial MATLAB port
 """
-from abc import ABC, abstractmethod
-import warnings
-from math import pi, sin, cos, tan, atan2
+from abc import ABC
+from math import pi, atan2
 import numpy as np
-from scipy import integrate, linalg, interpolate
+# from scipy import integrate, linalg, interpolate
 from pathlib import Path
 import matplotlib.pyplot as plt
 from matplotlib import patches, colors

roboticstoolbox/mobile/Bug2.py

@@ -3,16 +3,16 @@
 @Author: Peter Corke, original MATLAB code and Python version
 @Author: Kristian Gibson, initial MATLAB port
 """
-from numpy import disp
-from scipy import integrate
+# from numpy import disp
+# from scipy import integrate
 
-from spatialmath.pose2d import SE2
+# from spatialmath.pose2d import SE2
 from spatialmath import base
 from spatialmath.base.animate import *
 from scipy.ndimage import *
-from matplotlib import cm
+# from matplotlib import cm
 import matplotlib.pyplot as plt
-from matplotlib import animation
+# from matplotlib import animation
 from roboticstoolbox.mobile.PlannerBase import PlannerBase
 
 class Bug2(PlannerBase):

roboticstoolbox/mobile/PRMPlanner.py

@@ -3,19 +3,19 @@
 @Author: Peter Corke, original MATLAB code and Python version
 @Author: Kristian Gibson, initial MATLAB port
 """
-from multiprocessing.sharedctypes import Value
-from numpy import disp
-from scipy import integrate
-from spatialmath.base.animate import Animate
+# from multiprocessing.sharedctypes import Value
+# from numpy import disp
+# from scipy import integrate
+# from spatialmath.base.animate import Animate
 from spatialmath.base.transforms2d import *
 from spatialmath.base.vectors import *
-from spatialmath.pose2d import SE2
-from spatialmath.base import animate
+# from spatialmath.pose2d import SE2
+# from spatialmath.base import animate
 from scipy.ndimage import *
 from matplotlib import cm, pyplot as plt
 from roboticstoolbox.mobile.PlannerBase import PlannerBase
 from pgraph import UGraph
-from progress.bar import FillingCirclesBar
+# from progress.bar import FillingCirclesBar
 
 
 class PRMPlanner(PlannerBase):

roboticstoolbox/models/DH/Baxter.py

@@ -2,7 +2,6 @@
 from math import pi
 from roboticstoolbox import DHRobot, RevoluteDH
 from spatialmath import SE3
-from spatialmath import base
 
 
 class Baxter(DHRobot):

roboticstoolbox/models/DH/Coil.py

@@ -3,11 +3,8 @@
 @author: Peter Corke
 """
 
-
-from math import pi
 import numpy as np
 from roboticstoolbox import DHRobot, RevoluteDH
-from spatialmath import SE3
 
 
 class Coil(DHRobot):

roboticstoolbox/models/DH/Hyper.py

@@ -7,7 +7,6 @@
 # from math import pi
 import numpy as np
 from roboticstoolbox import DHRobot, RevoluteDH
-from spatialmath import SE3
 
 
 class Hyper(DHRobot):

roboticstoolbox/models/DH/Hyper3d.py

@@ -6,7 +6,6 @@
 # from math import pi
 import numpy as np
 from roboticstoolbox import DHRobot, RevoluteDH
-from spatialmath import SE3
 
 
 class Hyper3d(DHRobot):
@@ -52,12 +51,12 @@ def __init__(self, N=10, a=None, symbolic=False):
         if symbolic:
             import spatialmath.base.symbolic as sym
 
-            zero = sym.zero()
+            # zero = sym.zero()
             pi = sym.pi()
         else:
             from math import pi
 
-            zero = 0.0
+            # zero = 0.0
 
         if a is None:
             a = 1 / N

roboticstoolbox/models/DH/Jaco.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python
 
-from math import pi, sin, cos
+from math import sin, cos
 import numpy as np
 from roboticstoolbox import DHRobot, RevoluteDH
-from spatialmath import SE3
+# from spatialmath import SE3
 
 
 class Jaco(DHRobot):
@@ -44,12 +44,12 @@ def __init__(self, symbolic=False):
         if symbolic:
             import spatialmath.base.symbolic as sym
 
-            zero = sym.zero()
+            # zero = sym.zero()
             pi = sym.pi()
         else:
             from math import pi
 
-            zero = 0.0
+            # zero = 0.0
 
         deg = pi / 180
         # robot length values (metres)
@@ -63,9 +63,9 @@ def __init__(self, symbolic=False):
 
         # alternate parameters
         aa = 30 * deg
-        ca = cos(aa)
+        # ca = cos(aa)
         sa = sin(aa)
-        c2a = cos(2 * aa)
+        # c2a = cos(2 * aa)
         s2a = sin(2 * aa)
         d4b = D3 + sa / s2a * D4
         d5b = sa / s2a * D4 + sa / s2a * D5

roboticstoolbox/models/DH/Planar2.py

@@ -5,7 +5,6 @@
 """
 
 from roboticstoolbox import DHRobot, RevoluteDH
-from math import pi
 import numpy as np
 
 

roboticstoolbox/models/DH/Sawyer.py

@@ -5,7 +5,6 @@
 
 import numpy as np
 from roboticstoolbox import DHRobot, RevoluteDH
-from spatialmath import SE3
 
 
 class Sawyer(DHRobot):
@@ -42,14 +41,14 @@ def __init__(self, symbolic=False):
         if symbolic:
             import spatialmath.base.symbolic as sym
 
-            zero = sym.zero()
+            # zero = sym.zero()
             pi = sym.pi()
         else:
             from math import pi
 
-            zero = 0.0
+            # zero = 0.0
 
-        deg = pi / 180
+        # deg = pi / 180
         mm = 1e-3
 
         # kinematic parameters

roboticstoolbox/models/DH/TwoLink.py

@@ -3,7 +3,7 @@
 """
 
 from roboticstoolbox import DHRobot, RevoluteDH
-from math import pi
+# from math import pi
 from spatialmath import SE3
 import numpy as np
 

roboticstoolbox/models/ETS/Planar_Y.py

@@ -26,8 +26,8 @@ class Planar_Y(ERobot):
 
     def __init__(self):
 
-        deg = np.pi / 180
-        mm = 1e-3
+        # deg = np.pi / 180
+        # mm = 1e-3
         tool_offset = 1
 
         # trunk of the tree

roboticstoolbox/tools/trajectory.py

@@ -6,7 +6,7 @@
 from spatialmath.base.argcheck import (
     isvector,
     getvector,
-    assertmatrix,
+    # assertmatrix,
     getvector,
     isscalar,
 )