linting

cppsrc/main/coverage_algorithm.cpp

@@ -1,26 +1,3 @@
-/*
- * This file is part of the CoverageControl library
- *
- * Author: Saurav Agarwal
- * Contact: [email protected], [email protected]
- * Repository: https://github.com/KumarRobotics/CoverageControl
- *
- * Copyright (c) 2024, Saurav Agarwal
- *
- * The CoverageControl library is free software: you can redistribute it and/or
- * modify it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or (at your
- * option) any later version.
- *
- * The CoverageControl library is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
- * Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along with
- * CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
- */
-
 /*!
  * \file coverage_algorithm.cpp
  * \brief Program to test the CVT-based (Lloyd's) coverage control algorithms

cppsrc/main/world_idf.cpp

@@ -1,26 +1,3 @@
-/*
- * This file is part of the CoverageControl library
- *
- * Author: Saurav Agarwal
- * Contact: [email protected], [email protected]
- * Repository: https://github.com/KumarRobotics/CoverageControl
- *
- * Copyright (c) 2024, Saurav Agarwal
- *
- * The CoverageControl library is free software: you can redistribute it and/or
- * modify it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or (at your
- * option) any later version.
- *
- * The CoverageControl library is distributed in the hope that it will be
- * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
- * Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along with
- * CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
- */
-
 /*!
  * \file world_idf.cpp
  * \brief Program to test generation of IDF

pyproject.toml

@@ -75,7 +75,7 @@ repair-wheel-command = ""
 # before-test=""
 test-command = "pytest -ra --showlocals --ignore={project}/python/tests/deprecated {project}/python/tests/test_coverage_env_utils.py {project}/python/tests/test_coverage.py {project}/python/tests/test_env_io.py {project}/python/tests/test_map_generation.py {project}/python/tests/test_models.py {project}/python/tests/test_package.py {project}/python/tests/test_parameters.py {project}/python/tests/test_parity.py"
 
-before-test = "pip install pytest torch torchvision torch_geometric && wget https://github.com/KumarRobotics/CoverageControl/releases/download/v1.1.0/pytest_data.tar.gz && tar -xvf pytest_data.tar.gz -C python/tests/ && rm pytest_data.tar.gz"
+before-test = "pip install pytest torch torchvision torch_geometric && wget https://github.com/KumarRobotics/CoverageControl/releases/download/v1.2.0/pytest_data.tar.gz && tar -xvf pytest_data.tar.gz -C python/tests/ && rm pytest_data.tar.gz"
 test-requires = []
 test-extras = []
 

python/scripts/coverage_env/coverage_class.py

@@ -1,37 +1,18 @@
-#  This file is part of the CoverageControl library
-#
-#  Author: Saurav Agarwal
-#  Contact: [email protected], [email protected]
-#  Repository: https://github.com/KumarRobotics/CoverageControl
-#
-#  Copyright (c) 2024, Saurav Agarwal
-#
-#  The CoverageControl library is free software: you can redistribute it and/or
-#  modify it under the terms of the GNU General Public License as published by
-#  the Free Software Foundation, either version 3 of the License, or (at your
-#  option) any later version.
-#
-#  The CoverageControl library is distributed in the hope that it will be
-#  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-#  Public License for more details.
-#
-#  You should have received a copy of the GNU General Public License along with
-#  CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
-
 """
 An example class to use the CoverageControl library to run a coverage algorithm
 """
+
 import sys
-import coverage_control as cc # Main library
-from coverage_control import CoverageSystem
 
+import coverage_control as cc  # Main library
+from coverage_control import CoverageSystem
+from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm
 # Algorithms available:
 # ClairvoyantCVT
 # CentralizedCVT
 # DecentralizedCVT
 # NearOptimalCVT
-from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm
+
 
 class RunCoverageAlgorithm:
     """
@@ -45,15 +26,18 @@ def __init__(self, params_filename=None):
             self.params_ = cc.Parameters()
 
         self.env = CoverageSystem(self.params_)
-        self.controller = CoverageAlgorithm(self.params_, self.params_.pNumRobots, self.env)
+        self.controller = CoverageAlgorithm(
+            self.params_, self.params_.pNumRobots, self.env
+        )
 
     def step(self):
         """
         Run one step of the coverage algorithm
         """
-        self.controller.ComputeActions();
+        self.controller.ComputeActions()
         actions = self.controller.GetActions()
         error_flag = self.env.StepActions(actions)
+
         return error_flag
 
     def execute(self):
@@ -68,19 +52,21 @@ def execute(self):
         while num_steps <= self.params_.pEpisodeSteps:
             if self.step():
                 print(f"Error in step {num_steps}")
+
                 break
 
             if self.controller.IsConverged():
                 print(f"Converged in step {num_steps}")
+
                 break
 
             num_steps = num_steps + 1
 
         final_cost = self.env.GetObjectiveValue()
         print(f"Improvement %: {100 * (init_cost - final_cost)/init_cost:.2f}")
 
-if __name__ == '__main__':
 
+if __name__ == "__main__":
     if len(sys.argv) > 1:
         cc = RunCoverageAlgorithm(sys.argv[1])
     else:

python/scripts/coverage_env/coverage_simple.py

@@ -1,36 +1,14 @@
-#  This file is part of the CoverageControl library
-#
-#  Author: Saurav Agarwal
-#  Contact: [email protected], [email protected]
-#  Repository: https://github.com/KumarRobotics/CoverageControl
-#
-#  Copyright (c) 2024, Saurav Agarwal
-#
-#  The CoverageControl library is free software: you can redistribute it and/or
-#  modify it under the terms of the GNU General Public License as published by
-#  the Free Software Foundation, either version 3 of the License, or (at your
-#  option) any later version.
-#
-#  The CoverageControl library is distributed in the hope that it will be
-#  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-#  Public License for more details.
-#
-#  You should have received a copy of the GNU General Public License along with
-#  CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
-
 """
 A simple example of using the CoverageControl library
 """
 
 import coverage_control as cc
-
+from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm
 # Algorithms available:
 # ClairvoyantCVT
 # CentralizedCVT
 # DecentralizedCVT
 # NearOptimalCVT
-from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm
 
 params = cc.Parameters()
 
@@ -53,10 +31,12 @@
 
     if env.StepActions(actions):
         print(f"Error in step {i}")
+
         break
 
     if controller.IsConverged():
         print(f"Converged in step {i}")
+
         break
 
 # print some metrics

python/scripts/coverage_env/world_idf.py

@@ -1,29 +1,8 @@
-#  This file is part of the CoverageControl library
-#
-#  Author: Saurav Agarwal
-#  Contact: [email protected], [email protected]
-#  Repository: https://github.com/KumarRobotics/CoverageControl
-#
-#  Copyright (c) 2024, Saurav Agarwal
-#
-#  The CoverageControl library is free software: you can redistribute it and/or
-#  modify it under the terms of the GNU General Public License as published by
-#  the Free Software Foundation, either version 3 of the License, or (at your
-#  option) any later version.
-#
-#  The CoverageControl library is distributed in the hope that it will be
-#  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-#  Public License for more details.
-#
-#  You should have received a copy of the GNU General Public License along with
-#  CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
 """
 A simple example of using WorldIDF
 """
 
 import coverage_control
-import numpy as np
 
 params = coverage_control.Parameters()
 params.pNumRobots = 1

python/scripts/coverage_env/world_map_numpy.py

@@ -1,23 +1,3 @@
-#  This file is part of the CoverageControl library
-#
-#  Author: Saurav Agarwal
-#  Contact: [email protected], [email protected]
-#  Repository: https://github.com/KumarRobotics/CoverageControl
-#
-#  Copyright (c) 2024, Saurav Agarwal
-#
-#  The CoverageControl library is free software: you can redistribute it and/or
-#  modify it under the terms of the GNU General Public License as published by
-#  the Free Software Foundation, either version 3 of the License, or (at your
-#  option) any later version.
-#
-#  The CoverageControl library is distributed in the hope that it will be
-#  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-#  Public License for more details.
-#
-#  You should have received a copy of the GNU General Public License along with
-#  CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
 """
 A simple example of using WorldIDF
 """

python/scripts/data_generation/data_generation.py

@@ -1,28 +1,6 @@
-#  This file is part of the CoverageControl library
-#
-#  Author: Saurav Agarwal
-#  Contact: [email protected], [email protected]
-#  Repository: https://github.com/KumarRobotics/CoverageControl
-#
-#  Copyright (c) 2024, Saurav Agarwal
-#
-#  The CoverageControl library is free software: you can redistribute it and/or
-#  modify it under the terms of the GNU General Public License as published by
-#  the Free Software Foundation, either version 3 of the License, or (at your
-#  option) any later version.
-#
-#  The CoverageControl library is distributed in the hope that it will be
-#  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
-#  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-#  Public License for more details.
-#
-#  You should have received a copy of the GNU General Public License along with
-#  CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
-
 # @file data_generation.py
 # This file contains the code to generate a dataset for learning
 #
-
 # DataDir =  "${CoverageControl_ws}/datasets/lpac" # Absolute location
 # EnvironmentConfig = "${CoverageControl_ws}/datasets/lpac/coverage_control_params.toml" # Absolute location
 #
@@ -48,30 +26,30 @@
 # TrainRatio = 0.7
 # ValRatio =  0.2
 # TestRatio = 0.1
-
-## @file data_generation.py
+# @file data_generation.py
 #  @brief Class to generate CoverageControl dataset for LPAC architecture
-
-import os
-import sys
-import pathlib
 import datetime
 import math
+import os
+import pathlib
+import sys
 
 import coverage_control
 import torch
-from coverage_control import CoverageSystem, IOUtils
+from coverage_control import CoverageSystem
+from coverage_control import IOUtils
 from coverage_control.algorithms import ClairvoyantCVT as CoverageAlgorithm
 from coverage_control.nn import CoverageEnvUtils
 
-## @ingroup python_api
+# @ingroup python_api
+
+
 class DatasetGenerator:
     """
     Class to generate CoverageControl dataset for LPAC architecture
     """
 
     def __init__(self, config_file, append_dir=None):
-
         self.config = IOUtils.load_toml(config_file)
         self.data_dir = IOUtils.sanitize_path(self.config["DataDir"])
         self.dataset_dir = self.data_dir + "/data/"