fix lint issues (#54)

Co-authored-by: Maurizio Monge <[email protected]>
facebookresearch · Jan 31, 2022 · 62a1ae4 · 62a1ae4
1 parent 0308a9a
commit 62a1ae4
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/theseus/core/tests/test_objective.py b/theseus/core/tests/test_objective.py
@@ -281,7 +281,7 @@ def test_objective_error():
     np.testing.assert_almost_equal(error, expected_objective_error)
 
     # Test the squared error function
-    squared_error = np.sum(expected_objective_error ** 2)
+    squared_error = np.sum(expected_objective_error**2)
     np.testing.assert_almost_equal(
         objective.error_squared_norm().numpy(), squared_error
     )

diff --git a/theseus/geometry/se2.py b/theseus/geometry/se2.py
@@ -150,7 +150,7 @@ def exp_map(tangent_vector: torch.Tensor) -> LieGroup:
         idx_small_thetas = theta.abs() < theseus.constants.EPS
         if idx_small_thetas.any():
             small_theta = theta[idx_small_thetas]
-            small_theta_sq = small_theta ** 2
+            small_theta_sq = small_theta**2
             sin_theta_by_theta[idx_small_thetas] = -small_theta_sq / 6 + 1
             one_minus_cos_theta_by_theta[idx_small_thetas] = (
                 0.5 * small_theta - small_theta / 24 * small_theta_sq

diff --git a/theseus/utils/examples/motion_planning/models.py b/theseus/utils/examples/motion_planning/models.py
@@ -183,7 +183,7 @@ def forward(self, batch: Dict[str, Any]):
         for t_step in range(1, trajectory_len):
             idx = 4 * t_step
             cur_t += start_goal_dist / (trajectory_len - 1)
-            add = 2 * bend_factor * ((cur_t ** 2 - c) / c).view(-1, 1)
+            add = 2 * bend_factor * ((cur_t**2 - c) / c).view(-1, 1)
             trajectory[:, idx : idx + 2] += normal_vector * add
 
         # Compute resulting velocities