style(pre-commit): autofix

autowarefoundation · Mar 26, 2024 · 96af1e8 · 96af1e8
1 parent 228c4e1
commit 96af1e8
Showing 1 changed file with 57 additions and 37 deletions.
diff --git a/control/consistency_checker.py b/control/consistency_checker.py
@@ -1,11 +1,14 @@
-import yaml
 import math
 
+import yaml
+
+
 def read_yaml(file_path):
     """Read YAML file and return the data."""
-    with open(file_path, 'r') as file:
+    with open(file_path, "r") as file:
         return yaml.safe_load(file)
 
+
 # paths to the YAML files
 mpc_param_file_path = "/home/zheshen/pilot-auto.x2/src/autoware/launcher/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml"
 pid_param_file_path = "/home/zheshen/pilot-auto.x2/src/autoware/launcher/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml"
@@ -18,41 +21,58 @@ def read_yaml(file_path):
 
 # compare the parameters
 results = [
-#   "mpc_vehicle_model_type_consistency": mpc_params["vehicle_model_type"] == simulator_model_params["vehicle_model_type"],  # Should not compare directly. Modify later!!
-    ("[MPC] steer_delay_difference: {}, (controller: {}, simulator: {})".format(
-        simulator_model_params["steer_time_delay"] - mpc_params["input_delay"],
-        mpc_params["input_delay"],
-        simulator_model_params["steer_time_delay"])),
-
-    ("[MPC] steer_time_constant_difference: {}, (controller: {}, simulator: {})".format(
-        simulator_model_params["steer_time_constant"] - mpc_params["vehicle_model_steer_tau"],
-        mpc_params["vehicle_model_steer_tau"],
-        simulator_model_params["steer_time_constant"])),
-
-    ("[MPC] acceleration_limit_difference: {}, (controller: {}, simulator: {})".format(
-        simulator_model_params["vel_rate_lim"] - mpc_params["acceleration_limit"],
-        mpc_params["acceleration_limit"],
-        simulator_model_params["vel_rate_lim"])),
-
-    ("[MPC] max_steer_rate_lim_difference_by_curvature: {}, (controller: {}, simulator: {})".format(
-        simulator_model_params["steer_rate_lim"] - max(mpc_params["steer_rate_lim_dps_list_by_curvature"]) * (math.pi / 180),
-        max(mpc_params["steer_rate_lim_dps_list_by_curvature"]) * (math.pi / 180),
-        simulator_model_params["steer_rate_lim"])),
-
-    ("[MPC] max_steer_rate_lim_difference_by_velocity: {}, (controller: {}, simulator: {})".format(
-        simulator_model_params["steer_rate_lim"] - max(mpc_params["steer_rate_lim_dps_list_by_velocity"]) * (math.pi / 180),
-        max(mpc_params["steer_rate_lim_dps_list_by_velocity"]) * (math.pi / 180),
-        simulator_model_params["steer_rate_lim"])),    
-
-    ("[PID] max_acc_difference: {}, (controller: {}, simulator: {})".format(
-        simulator_model_params["vel_rate_lim"] - pid_params["max_acc"],
-        pid_params["max_acc"],
-        simulator_model_params["vel_rate_lim"])),
-
-    ("[PID] min_acc_difference: {}, (controller: {}, simulator: {})".format(
-        - simulator_model_params["vel_rate_lim"] - pid_params["min_acc"],
-        pid_params["min_acc"],
-        - simulator_model_params["vel_rate_lim"]))
+    #   "mpc_vehicle_model_type_consistency": mpc_params["vehicle_model_type"] == simulator_model_params["vehicle_model_type"],  # Should not compare directly. Modify later!!
+    (
+        "[MPC] steer_delay_difference: {}, (controller: {}, simulator: {})".format(
+            simulator_model_params["steer_time_delay"] - mpc_params["input_delay"],
+            mpc_params["input_delay"],
+            simulator_model_params["steer_time_delay"],
+        )
+    ),
+    (
+        "[MPC] steer_time_constant_difference: {}, (controller: {}, simulator: {})".format(
+            simulator_model_params["steer_time_constant"] - mpc_params["vehicle_model_steer_tau"],
+            mpc_params["vehicle_model_steer_tau"],
+            simulator_model_params["steer_time_constant"],
+        )
+    ),
+    (
+        "[MPC] acceleration_limit_difference: {}, (controller: {}, simulator: {})".format(
+            simulator_model_params["vel_rate_lim"] - mpc_params["acceleration_limit"],
+            mpc_params["acceleration_limit"],
+            simulator_model_params["vel_rate_lim"],
+        )
+    ),
+    (
+        "[MPC] max_steer_rate_lim_difference_by_curvature: {}, (controller: {}, simulator: {})".format(
+            simulator_model_params["steer_rate_lim"]
+            - max(mpc_params["steer_rate_lim_dps_list_by_curvature"]) * (math.pi / 180),
+            max(mpc_params["steer_rate_lim_dps_list_by_curvature"]) * (math.pi / 180),
+            simulator_model_params["steer_rate_lim"],
+        )
+    ),
+    (
+        "[MPC] max_steer_rate_lim_difference_by_velocity: {}, (controller: {}, simulator: {})".format(
+            simulator_model_params["steer_rate_lim"]
+            - max(mpc_params["steer_rate_lim_dps_list_by_velocity"]) * (math.pi / 180),
+            max(mpc_params["steer_rate_lim_dps_list_by_velocity"]) * (math.pi / 180),
+            simulator_model_params["steer_rate_lim"],
+        )
+    ),
+    (
+        "[PID] max_acc_difference: {}, (controller: {}, simulator: {})".format(
+            simulator_model_params["vel_rate_lim"] - pid_params["max_acc"],
+            pid_params["max_acc"],
+            simulator_model_params["vel_rate_lim"],
+        )
+    ),
+    (
+        "[PID] min_acc_difference: {}, (controller: {}, simulator: {})".format(
+            -simulator_model_params["vel_rate_lim"] - pid_params["min_acc"],
+            pid_params["min_acc"],
+            -simulator_model_params["vel_rate_lim"],
+        )
+    ),
 ]
 
 # print the results