Fix trailing whitespace and end of file lines.

.github/CONTRIBUTORS.md

@@ -3,4 +3,4 @@ A number of people have contributed to this, and earlier, versions of this Toolb
 * Jesse Haviland, 2020 (part of the ropy project)
 * Luis Fernando Lara Tobar, 2008
 * Josh Carrigg Hodson, Aditya Dua, Chee Ho Chan, 2017 (part of the robopy project)
-* Peter Corke
+* Peter Corke

.pre-commit-config.yaml

@@ -18,17 +18,16 @@ repos:
   rev: v4.5.0
   hooks:
   -   id: end-of-file-fixer
-  -   id: debug-statements # Ensure we don't commit `import pdb; pdb.set_trace()`
       exclude: |
-        (?x)^(
-          docker/ros/web/static/.*|
-        )$
+        (?x)(
+          ^docs/
+        )
+  -   id: debug-statements # Ensure we don't commit `import pdb; pdb.set_trace()`
   -   id: trailing-whitespace
       exclude: |
-        (?x)^(
-          docker/ros/web/static/.*|
-          (.*/).*\.patch|
-        )$
+        (?x)(
+          ^docs/
+        )
 # - repo: https://github.com/pre-commit/mirrors-mypy
 #   rev: v1.6.1
 #   hooks:

Makefile

@@ -39,4 +39,3 @@ clean: .FORCE
 	(cd docs; make clean)
 	-rm -r *.egg-info
 	-rm -r dist build
-

README.md

@@ -45,8 +45,8 @@ space:
 | ------------ | ---------------- | -------- |
 | pose         | ``SE3`` ``Twist3`` ``UnitDualQuaternion``   |   ``SE2`` ``Twist2`` |
 | orientation  | ``SO3`` ``UnitQuaternion`` |            ``SO2``  |
-                
-                
+
+
 More specifically:
 
  * `SE3` matrices belonging to the group $\mathbf{SE}(3)$ for position and orientation (pose) in 3-dimensions
@@ -160,26 +160,26 @@ For example, to create an object representing a rotation of 0.3 radians about th
 >>> from spatialmath import SO3, SE3
 >>> R1 = SO3.Rx(0.3)
 >>> R1
-   1         0         0          
-   0         0.955336 -0.29552    
-   0         0.29552   0.955336         
+   1         0         0
+   0         0.955336 -0.29552
+   0         0.29552   0.955336
 ```
 while a rotation of 30 deg about the z-axis is
 
 ```python
 >>> R2 = SO3.Rz(30, 'deg')
 >>> R2
-   0.866025 -0.5       0          
-   0.5       0.866025  0          
-   0         0         1    
+   0.866025 -0.5       0
+   0.5       0.866025  0
+   0         0         1
 ```
-and the composition of these two rotations is 
+and the composition of these two rotations is
 
 ```python
 >>> R = R1 * R2
-   0.866025 -0.5       0          
-   0.433013  0.75     -0.5        
-   0.25      0.433013  0.866025 
+   0.866025 -0.5       0
+   0.433013  0.75     -0.5
+   0.25      0.433013  0.866025
 ```
 
 We can find the corresponding Euler angles (in radians)
@@ -198,16 +198,16 @@ Frequently in robotics we want a sequence, a trajectory, of rotation matrices or
 >>> len(R)
  3
 >>> R[1]
-   1         0         0          
-   0         0.955336 -0.29552    
-   0         0.29552   0.955336             
+   1         0         0
+   0         0.955336 -0.29552
+   0         0.29552   0.955336
 ```
 and this can be used in `for` loops and list comprehensions.
 
 An alternative way of constructing this would be (`R1`, `R2` defined above)
 
 ```python
->>> R = SO3( [ SO3(), R1, R2 ] )       
+>>> R = SO3( [ SO3(), R1, R2 ] )
 >>> len(R)
  3
 ```
@@ -233,7 +233,7 @@ will produce a result where each element is the product of each element of the l
 Similarly
 
 ```python
->>> A = SO3.Ry(0.5) * R 
+>>> A = SO3.Ry(0.5) * R
 >>> len(R)
  32
 ```
@@ -242,7 +242,7 @@ will produce a result where each element is the product of the left-hand side wi
 Finally
 
 ```python
->>> A = R * R 
+>>> A = R * R
 >>> len(R)
  32
 ```
@@ -267,10 +267,10 @@ We can print and plot these objects as well
 ```
 >>> T = SE3(1,2,3) * SE3.Rx(30, 'deg')
 >>> T.print()
-   1         0         0         1          
-   0         0.866025 -0.5       2          
-   0         0.5       0.866025  3          
-   0         0         0         1          
+   1         0         0         1
+   0         0.866025 -0.5       2
+   0         0.5       0.866025  3
+   0         0         0         1
 
 >>> T.printline()
 t =        1,        2,        3; rpy/zyx =       30,        0,        0 deg
@@ -339,7 +339,7 @@ array([[1., 0., 1.],
        [0., 0., 1.]])
 
 transl2( (1,2) )
-Out[444]: 
+Out[444]:
 array([[1., 0., 1.],
        [0., 1., 2.],
        [0., 0., 1.]])
@@ -349,7 +349,7 @@ array([[1., 0., 1.],
 
 ```
 transl2( np.array([1,2]) )
-Out[445]: 
+Out[445]:
 array([[1., 0., 1.],
        [0., 1., 2.],
        [0., 0., 1.]])
@@ -436,7 +436,7 @@ Out[259]: int
 
 a = T[1,1]
 a
-Out[256]: 
+Out[256]:
 cos(theta)
 type(a)
 Out[255]: cos

spatialmath/base/README.md

@@ -21,9 +21,9 @@ import spatialmath as sm
 
 R = sm.SO3.Rx(30, 'deg')
 print(R)
-   1         0         0          
-   0         0.866025 -0.5        
-   0         0.5       0.866025   
+   1         0         0
+   0         0.866025 -0.5
+   0         0.5       0.866025
 ```
 which constructs a rotation about the x-axis by 30 degrees.
 
@@ -45,7 +45,7 @@ array([[ 1.        ,  0.        ,  0.        ],
        [ 0.        ,  0.29552021,  0.95533649]])
 
 >>> rotx(30, unit='deg')
-Out[438]: 
+Out[438]:
 array([[ 1.       ,  0.       ,  0.       ],
        [ 0.       ,  0.8660254, -0.5      ],
        [ 0.       ,  0.5      ,  0.8660254]])
@@ -64,7 +64,7 @@ We also support multiple ways of passing vector information to functions that re
 
 ```
 transl2(1, 2)
-Out[442]: 
+Out[442]:
 array([[1., 0., 1.],
        [0., 1., 2.],
        [0., 0., 1.]])
@@ -74,13 +74,13 @@ array([[1., 0., 1.],
 
 ```
 transl2( [1,2] )
-Out[443]: 
+Out[443]:
 array([[1., 0., 1.],
        [0., 1., 2.],
        [0., 0., 1.]])
 
 transl2( (1,2) )
-Out[444]: 
+Out[444]:
 array([[1., 0., 1.],
        [0., 1., 2.],
        [0., 0., 1.]])
@@ -90,7 +90,7 @@ array([[1., 0., 1.],
 
 ```
 transl2( np.array([1,2]) )
-Out[445]: 
+Out[445]:
 array([[1., 0., 1.],
        [0., 1., 2.],
        [0., 0., 1.]])
@@ -129,7 +129,7 @@ Using classes ensures type safety, for example it stops us mixing a 2D homogeneo
 These classes are all derived from two parent classes:
 
 * `RTBPose` which provides common functionality for all
-* `UserList` which provdides the ability to act like a list 
+* `UserList` which provdides the ability to act like a list
 
 The latter is important because frequnetly in robotics we want a sequence, a trajectory, of rotation matrices or poses.  However a list of these items has the type `list` and the elements are not enforced to be homogeneous, ie. a list could contain a mixture of classes.
 
@@ -178,7 +178,7 @@ Out[259]: int
 
 a = T[1,1]
 a
-Out[256]: 
+Out[256]:
 cos(theta)
 type(a)
 Out[255]: cos
@@ -226,10 +226,3 @@ TypeError: can't convert expression to float
 | t2r | yes |
 | rotx | yes |
 | rotx | yes |
-
-
-
-
-
-
-

spatialmath/base/argcheck.py

@@ -5,7 +5,7 @@
 
 """
 Utility functions for testing and converting passed arguments.  Used in all
-spatialmath functions and classes to provides for flexibility in argument types 
+spatialmath functions and classes to provides for flexibility in argument types
 that can be passed.
 """
 

spatialmath/base/symbolic.py

@@ -8,7 +8,7 @@
 Symbolic arguments.
 
 If SymPy is not installed then only the standard numeric operations are
-supported. 
+supported.
 """
 
 import math

spatialmath/base/transformsNd.py

@@ -514,7 +514,7 @@ def skew(v):
     if len(v) == 1:
         # fmt: off
         return np.array([
-            [0.0,  -v[0]], 
+            [0.0,  -v[0]],
             [v[0],  0.0]
         ])  # type: ignore
         # fmt: on

spatialmath/geom3d.py

@@ -507,7 +507,7 @@ def vec(self) -> R6:
     def skew(self) -> R4x4:
         r"""
         Line as a Plucker skew-symmetric matrix
-        
+
         :return: Skew-symmetric matrix form of Plucker coordinates
         :rtype: ndarray(4,4)
 
@@ -523,7 +523,7 @@ def skew(self) -> R4x4:
                 -\omega_x & -\omega_y & -\omega_z & 0 \end{bmatrix}
 
         .. note::
-            
+
             - For two homogeneous points P and Q on the line, :math:`PQ^T-QP^T` is
             also skew symmetric.
             - The projection of Plucker line by a perspective camera is a

spatialmath/spatialvector.py

@@ -10,7 +10,7 @@
    :top-classes: collections.UserList
    :parts: 1
 
-.. note:: Compared to Featherstone's papers these spatial vectors have the 
+.. note:: Compared to Featherstone's papers these spatial vectors have the
     translational components first, followed by rotational components.
 """