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autotest: fix usage of tabs instead of space

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Python 3 is stricter with regard to using tabs instead of space (PEP8):
	Spaces are the preferred indentation method.

	Tabs should be used solely to remain consistent with code that
	is already indented with tabs.

	Python 3 disallows mixing the use of tabs and spaces for
	indentation.

	Python 2 code indented with a mixture of tabs and spaces should
	be converted to using spaces exclusively.
This commit is contained in:
Lucas De Marchi 2015-05-13 01:55:23 -03:00 committed by Randy Mackay
parent c89530a97c
commit 35b550f03d
1 changed files with 33 additions and 33 deletions

66
Tools/autotest/pysim/rotmat.py
View File

@ -143,21 +143,21 @@ class Matrix3:
def from_euler(self, roll, pitch, yaw): def from_euler(self, roll, pitch, yaw):
'''fill the matrix from Euler angles in radians''' '''fill the matrix from Euler angles in radians'''
cp = cos(pitch) cp = cos(pitch)
sp = sin(pitch) sp = sin(pitch)
sr = sin(roll) sr = sin(roll)
cr = cos(roll) cr = cos(roll)
sy = sin(yaw) sy = sin(yaw)
cy = cos(yaw) cy = cos(yaw)
self.a.x = cp * cy self.a.x = cp * cy
self.a.y = (sr * sp * cy) - (cr * sy) self.a.y = (sr * sp * cy) - (cr * sy)
self.a.z = (cr * sp * cy) + (sr * sy) self.a.z = (cr * sp * cy) + (sr * sy)
self.b.x = cp * sy self.b.x = cp * sy
self.b.y = (sr * sp * sy) + (cr * cy) self.b.y = (sr * sp * sy) + (cr * cy)
self.b.z = (cr * sp * sy) - (sr * cy) self.b.z = (cr * sp * sy) - (sr * cy)
self.c.x = -sp self.c.x = -sp
self.c.y = sr * cp self.c.y = sr * cp
self.c.z = cr * cp self.c.z = cr * cp
def to_euler(self): def to_euler(self):
@ -190,11 +190,11 @@ class Matrix3:
def from_euler312(self, roll, pitch, yaw): def from_euler312(self, roll, pitch, yaw):
'''fill the matrix from Euler angles in radians in 312 convention''' '''fill the matrix from Euler angles in radians in 312 convention'''
c3 = cos(pitch) c3 = cos(pitch)
s3 = sin(pitch) s3 = sin(pitch)
s2 = sin(roll) s2 = sin(roll)
c2 = cos(roll) c2 = cos(roll)
s1 = sin(yaw) s1 = sin(yaw)
c1 = cos(yaw) c1 = cos(yaw)
self.a.x = c1 * c3 - s1 * s2 * s3 self.a.x = c1 * c3 - s1 * s2 * s3
self.b.y = c1 * c2 self.b.y = c1 * c2
@ -250,29 +250,29 @@ class Matrix3:
def rotate(self, g): def rotate(self, g):
'''rotate the matrix by a given amount on 3 axes''' '''rotate the matrix by a given amount on 3 axes'''
temp_matrix = Matrix3() temp_matrix = Matrix3()
a = self.a a = self.a
b = self.b b = self.b
c = self.c c = self.c
temp_matrix.a.x = a.y * g.z - a.z * g.y temp_matrix.a.x = a.y * g.z - a.z * g.y
temp_matrix.a.y = a.z * g.x - a.x * g.z temp_matrix.a.y = a.z * g.x - a.x * g.z
temp_matrix.a.z = a.x * g.y - a.y * g.x temp_matrix.a.z = a.x * g.y - a.y * g.x
temp_matrix.b.x = b.y * g.z - b.z * g.y temp_matrix.b.x = b.y * g.z - b.z * g.y
temp_matrix.b.y = b.z * g.x - b.x * g.z temp_matrix.b.y = b.z * g.x - b.x * g.z
temp_matrix.b.z = b.x * g.y - b.y * g.x temp_matrix.b.z = b.x * g.y - b.y * g.x
temp_matrix.c.x = c.y * g.z - c.z * g.y temp_matrix.c.x = c.y * g.z - c.z * g.y
temp_matrix.c.y = c.z * g.x - c.x * g.z temp_matrix.c.y = c.z * g.x - c.x * g.z
temp_matrix.c.z = c.x * g.y - c.y * g.x temp_matrix.c.z = c.x * g.y - c.y * g.x
self.a += temp_matrix.a self.a += temp_matrix.a
self.b += temp_matrix.b self.b += temp_matrix.b
self.c += temp_matrix.c self.c += temp_matrix.c
def normalize(self): def normalize(self):
'''re-normalise a rotation matrix''' '''re-normalise a rotation matrix'''
error = self.a * self.b error = self.a * self.b
t0 = self.a - (self.b * (0.5 * error)) t0 = self.a - (self.b * (0.5 * error))
t1 = self.b - (self.a * (0.5 * error)) t1 = self.b - (self.a * (0.5 * error))
t2 = t0 % t1 t2 = t0 % t1
self.a = t0 * (1.0 / t0.length()) self.a = t0 * (1.0 / t0.length())
self.b = t1 * (1.0 / t1.length()) self.b = t1 * (1.0 / t1.length())
self.c = t2 * (1.0 / t2.length()) self.c = t2 * (1.0 / t2.length())