fixed pylint warnings

Author: rlabbe

creating_a_release.rst

@@ -3,7 +3,8 @@ Steps to Create Release
 
 * run pytest
 
-* run pylint --disable=similarities filterpy
+* run pylint --disable=similarities --disable=R0205 filterpy
+  R0205 turns off warning about deriving from object. We still support 2.7, so it is needed
 
 * update filterpy/filterpy/__init__.py with the version number.
 

filterpy/__init__.py

@@ -23,6 +23,7 @@
 from . import discrete_bayes
 from . import gh
 from . import hinfinity
+from . import kalman
 from . import leastsq
 from . import memory
 from . import monte_carlo

filterpy/common/discretization.py

@@ -124,7 +124,7 @@ def Q_discrete_white_noise(dim, dt=1., var=1., block_size=1, order_by_dim=True):
     John Wiley & Sons, 2001. Page 274.
     """
 
-    if not (dim == 2 or dim == 3 or dim == 4):
+    if dim not in [2, 3, 4]:
         raise ValueError("dim must be between 2 and 4")
 
     if dim == 2:
@@ -195,7 +195,7 @@ def Q_continuous_white_noise(dim, dt=1., spectral_density=1.,
            [0.        , 0.        , 0.        , 0.        , 0.005     , 0.1       ]])
     """
 
-    if not (dim == 2 or dim == 3 or dim == 4):
+    if dim not in [2, 3, 4]:
         raise ValueError("dim must be between 2 and 4")
 
     if dim == 2:
@@ -288,6 +288,10 @@ def van_loan_discretization(F, G, dt):
 
 
 def linear_ode_discretation(F, L=None, Q=None, dt=1.):
+    """
+    Not sure what this does, probably should be removed
+    """
+
     n = F.shape[0]
 
     if L is None:

filterpy/common/helpers.py

@@ -1,5 +1,5 @@
 # -*- coding: utf-8 -*-
-#pylint: disable=invalid-name
+#pylint: disable=invalid-name, bare-except
 
 """Copyright 2015 Roger R Labbe Jr.
 
@@ -361,7 +361,7 @@ def inv_diagonal(S):
 
 
 def outer_product_sum(A, B=None):
-    """
+    r"""
     Computes the sum of the outer products of the rows in A and B
 
         P = \Sum {A[i] B[i].T} for i in 0..N

filterpy/common/kinematic.py

@@ -1,5 +1,5 @@
 # -*- coding: utf-8 -*-
-#pylint: disable=invalid-name
+#pylint: disable=invalid-name, too-many-locals, import-outside-toplevel
 
 """Copyright 2018 Roger R Labbe Jr.
 
@@ -137,6 +137,7 @@ def kinematic_kf(dim, order, dt=1., dim_z=1, order_by_dim=True):
     """
 
     from filterpy.kalman import KalmanFilter
+
     if dim < 1:
         raise ValueError("dim must be >= 1")
     if order < 0:
@@ -169,4 +170,3 @@ def kinematic_kf(dim, order, dt=1., dim_z=1, order_by_dim=True):
                 kf.H[i, j] = 1.
 
     return kf
-

filterpy/kalman/CubatureKalmanFilter.py

@@ -23,7 +23,7 @@
 from math import log, exp, sqrt
 import sys
 import numpy as np
-from numpy import eye, zeros, dot, isscalar, outer
+from numpy import eye, zeros, dot, isscalar
 from scipy.linalg import inv, cholesky
 from filterpy.stats import logpdf
 from filterpy.common import pretty_str, outer_product_sum
@@ -376,7 +376,8 @@ def update(self, z, R=None, hx_args=()):
         self.y = self.residual_z(z, zp)   # residual
 
         self.x = self.x + dot(self.K, self.y)
-        self.P = self.P - dot(self.K, self.S).dot(self.K.T)
+        self.P = self.P - dot(self.K, self.S).dot(self.K.T) # pylint: disable=no-member
+
 
         # save measurement and posterior state
         self.z = deepcopy(z)

filterpy/kalman/__init__.py

@@ -16,8 +16,7 @@
 for more information.
 """
 
-from __future__ import (absolute_import, division, print_function,
-                        unicode_literals)
+from __future__ import (absolute_import)
 
 from .EKF import *
 from .ensemble_kalman_filter import *

filterpy/kalman/ensemble_kalman_filter.py

@@ -254,7 +254,7 @@ def update(self, z, R=None):
 
         P_zz = (outer_product_sum(sigmas_h - z_mean) / (N-1)) + R
         P_xz = outer_product_sum(
-                self.sigmas - self.x, sigmas_h - z_mean) / (N - 1)
+            self.sigmas - self.x, sigmas_h - z_mean) / (N - 1)
 
         self.S = P_zz
         self.SI = self.inv(self.S)

filterpy/kalman/kalman_filter.py

@@ -123,7 +123,6 @@
 from copy import deepcopy
 from math import log, exp, sqrt
 import sys
-import warnings
 import numpy as np
 from numpy import dot, zeros, eye, isscalar, shape
 import numpy.linalg as linalg
@@ -1295,7 +1294,7 @@ def test_matrix_dimensions(self, z=None, H=None, R=None, F=None, Q=None):
 
         if H.shape[0] == 1:
             # r can be scalar, 1D, or 2D in this case
-            assert r_shape == () or r_shape == (1,) or r_shape == (1, 1), \
+            assert r_shape in [(), (1,), (1, 1)], \
             "R must be scalar or one element array, but is shaped {}".format(
                 r_shape)
         else:

filterpy/kalman/sigma_points.py

@@ -502,9 +502,9 @@ def sigma_points(self, x, P):
         Istar = np.array([[-1/np.sqrt(2*lambda_), 1/np.sqrt(2*lambda_)]])
 
         for d in range(2, n+1):
-            row = np.ones((1, Istar.shape[1] + 1)) * 1. / np.sqrt(lambda_*d*(d + 1))
+            row = np.ones((1, Istar.shape[1] + 1)) * 1. / np.sqrt(lambda_*d*(d + 1)) # pylint: disable=unsubscriptable-object
             row[0, -1] = -d / np.sqrt(lambda_ * d * (d + 1))
-            Istar = np.r_[np.c_[Istar, np.zeros((Istar.shape[0]))], row]
+            Istar = np.r_[np.c_[Istar, np.zeros((Istar.shape[0]))], row] # pylint: disable=unsubscriptable-object
 
         I = np.sqrt(n)*Istar
         scaled_unitary = (U.T).dot(I)

filterpy/stats/__init__.py

@@ -17,6 +17,6 @@
 
 from __future__ import absolute_import
 
-__all__ = ["stats"]
+#__all__ = ["stats"]
 
 from .stats import *

filterpy/stats/stats.py

@@ -1,6 +1,7 @@
 # -*- coding: utf-8 -*-
 # pylint: disable=invalid-name, too-many-arguments, bad-whitespace
 # pylint: disable=too-many-lines, too-many-locals, len-as-condition
+# pylint: disable=import-outside-toplevel
 
 """Copyright 2015 Roger R Labbe Jr.