lgtm issues

jhavl · jhavl · commit d310df6cd36f · 2021-02-01T16:47:03.000+10:00
diff --git a/examples/swifty.py b/examples/swifty.py
@@ -99,12 +99,9 @@
 # import cProfile
 # cProfile.run('qp = r.ikine_mmc(Tep)')
 
-
-
 # print(r.fkine(q2))
 # print(r.fkine(qp))
 
-
 # q1 = r.qr
 # q2 = q1 + 0.1
 
@@ -140,7 +137,6 @@
 #     else:
 #         raise ValueError("Method must be 'central', 'forward' or 'backward'.")
 
-
 # # Numerical hessian wrt q[0]
 # # d = derivative(lambda x: r.jacob0(np.r_[x, q1[1:]]), q1[0], h=0.1)
 # # print(np.round(h1[:, :, 0], 3))
@@ -162,8 +158,6 @@
 # # l = r.partial_fkine0(q1, 4)
 # # print(np.round(l[:, :, 0, 0, 0], 3))
 
-
-
 # j = r.jacob0(r.q)
 # def runner():
 #     for i in range(1):
diff --git a/roboticstoolbox/robot/DHRobot.py b/roboticstoolbox/robot/DHRobot.py
@@ -11,7 +11,7 @@
 from roboticstoolbox.robot.DHLink import DHLink  # HACK
 from spatialmath.base.argcheck import \
     getvector, isscalar, verifymatrix, getmatrix
-from spatialmath import base
+# from spatialmath import base
 from spatialmath.base.transforms3d import tr2jac, trinv
 from spatialmath.base.transformsNd import t2r
 from spatialmath import SE3, Twist3
@@ -739,9 +739,9 @@ def dhunique(self):
                 if link.d != 0:
                     table.row(f"d{j}", link.d)
             if link.a != 0:
-                    table.row(f"a{j}", link.a)
+                table.row(f"a{j}", link.a)
             if link.alpha != 0:
-                    table.row(f"⍺{j}", link.alpha)
+                table.row(f"⍺{j}", link.alpha)
         table.print()
 
     def twists(self, q=None):
@@ -1643,7 +1643,8 @@ def ikine_6s(self, T, config, ikfunc):
                 theta = theta - self.offset
 
                 solution = iksol(theta, True, "")
-                solutions.append(solution)
+
+            solutions.append(solution)
 
         if len(solutions) == 1:
             return solutions[0]
diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py
@@ -1361,7 +1361,7 @@ def jacobe(self, q, endlink=None, startlink=None, offset=None, T=None):
 
         endlink, startlink = self._get_limit_links(endlink, startlink)
 
-        path, n = self.get_path(endlink, startlink)
+        # path, n = self.get_path(endlink, startlink)
 
         if T is None:
             T = self.base.inv() * \
diff --git a/roboticstoolbox/robot/IK.py b/roboticstoolbox/robot/IK.py
@@ -264,9 +264,9 @@ def ikine_LM(
                         # more to do on the trajectory
                         solutions.append(solution)
                         del T[0]
-            else:
-                # no solution found, stop now
-                return iksol(None, False, None, None, None)
+                else:
+                    # no solution found, stop now
+                    return iksol(None, False, None, None, None)
 
         if q0 is None:
             q0 = np.zeros((self.n,))
