Add docformatter pre-commit hook (#201)

.pre-commit-config.yaml

@@ -88,3 +88,8 @@ repos:
       - id: ruff
         exclude: (thirdparty|cpp/sophus)/.*$
         args: [--fix, --exit-non-zero-on-fix]
+  - repo: https://github.com/PyCQA/docformatter
+    rev: v1.7.5
+    hooks:
+      - id: docformatter
+        args: [--in-place, --wrap-summaries=115, --wrap-descriptions=120]

cpp/sophus/sympy/sophus/affine_camera.py

@@ -11,7 +11,7 @@
 
 
 class AffineCamera:
-    """Affine camera transform"""
+    """Affine camera transform."""
 
     def __init__(self, focal_length, center):
         assert isinstance(focal_length, sympy.Matrix)
@@ -22,7 +22,7 @@ def __init__(self, focal_length, center):
         self.center = center
 
     def pixel_from_z1_plane(self, point_in_camera_z1_plane):
-        """Map point from z1-plane to"""
+        """Map point from z1-plane to."""
         assert isinstance(point_in_camera_z1_plane, sympy.Matrix)
         assert point_in_camera_z1_plane.shape == (
             2,

cpp/sophus/sympy/sophus/brown_conrady_camera.py

@@ -12,7 +12,7 @@
 
 
 class BrownConradyCamera:
-    """Brown Conrady camera transform"""
+    """Brown Conrady camera transform."""
 
     def __init__(self, focal_length, center, distortion):
         assert isinstance(focal_length, sympy.Matrix)

cpp/sophus/sympy/sophus/complex.py

@@ -5,14 +5,14 @@
 
 
 class Complex:
-    """Complex class"""
+    """Complex class."""
 
     def __init__(self, real, imag):
         self.real = real
         self.imag = imag
 
     def __mul__(self, right):
-        """complex multiplication"""
+        """Complex multiplication."""
         return Complex(
             self.real * right.real - self.imag * right.imag,
             self.imag * right.real + self.real * right.imag,
@@ -34,15 +34,15 @@ def __getitem__(self, key):
         return self.imag
 
     def squared_norm(self):
-        """squared norm when considering the complex number as tuple"""
+        """Squared norm when considering the complex number as tuple."""
         return self.real**2 + self.imag**2
 
     def conj(self):
-        """complex conjugate"""
+        """Complex conjugate."""
         return Complex(self.real, -self.imag)
 
     def inv(self):
-        """complex inverse"""
+        """Complex inverse."""
         return Complex(
             self.conj().real / self.squared_norm(),
             self.conj().imag / self.squared_norm(),
@@ -75,12 +75,12 @@ def simplify(self):
 
     @staticmethod
     def da_a_mul_b(_a, b):
-        """derivative of complex multiplication wrt left multiplier a"""
+        """Derivative of complex multiplication wrt left multiplier a."""
         return sympy.Matrix([[b.real, -b.imag], [b.imag, b.real]])
 
     @staticmethod
     def db_a_mul_b(a, _b):
-        """derivative of complex multiplication wrt right multiplicand b"""
+        """Derivative of complex multiplication wrt right multiplicand b."""
         return sympy.Matrix([[a.real, -a.imag], [a.imag, a.real]])
 
 

cpp/sophus/sympy/sophus/dual_quaternion.py

@@ -8,23 +8,22 @@
 
 
 class DualQuaternion:
-    """Dual quaternion class"""
+    """Dual quaternion class."""
 
     def __init__(self, real_q, inf_q):
-        """Dual quaternion consists of a real quaternion, and an infinitesimal
-        quaternion"""
+        """Dual quaternion consists of a real quaternion, and an infinitesimal quaternion."""
         self.real_q = real_q
         self.inf_q = inf_q
 
     def __mul__(self, right):
-        """dual quaternion multiplication"""
+        """Dual quaternion multiplication."""
         return DualQuaternion(
             self.real_q * right.real_q,
             self.real_q * right.inf_q + self.inf_q * right.real_q,
         )
 
     def __truediv__(self, scalar):
-        """scalar division"""
+        """Scalar division."""
         return DualQuaternion(self.real_q / scalar, self.inf_q / scalar)
 
     def __repr__(self):
@@ -37,15 +36,15 @@ def __getitem__(self, key):
         return self.inf_q[key - 4]
 
     def squared_norm(self):
-        """squared norm when considering the dual quaternion as 8-tuple"""
+        """Squared norm when considering the dual quaternion as 8-tuple."""
         return self.real_q.squared_norm() + self.inf_q.squared_norm()
 
     def conj(self):
-        """dual quaternion conjugate"""
+        """Dual quaternion conjugate."""
         return DualQuaternion(self.real_q.conj(), self.inf_q.conj())
 
     def inv(self):
-        """dual quaternion inverse"""
+        """Dual quaternion inverse."""
         return DualQuaternion(
             self.real_q.inv(), -self.real_q.inv() * self.inf_q * self.real_q.inv()
         )

cpp/sophus/sympy/sophus/inverse_depth.py

@@ -27,7 +27,7 @@ def translation():
 
 
 class InverseDepth:
-    """Affine camera transform"""
+    """Affine camera transform."""
 
     def __init__(self, ab_and_psi):
         assert isinstance(ab_and_psi, sympy.Matrix)

cpp/sophus/sympy/sophus/kannala_brandt_camera.py

@@ -15,7 +15,7 @@
 
 
 class KannalaBrandtTransformCamera:
-    """KannalaBrandt camera transform"""
+    """KannalaBrandt camera transform."""
 
     def __init__(self, focal_length, center, distortion):
         assert isinstance(focal_length, sympy.Matrix)

cpp/sophus/sympy/sophus/quaternion.py

@@ -9,31 +9,31 @@
 
 
 class Quaternion:
-    """Quaternion class"""
+    """Quaternion class."""
 
     def __init__(self, real, vec):
-        """Quaternion consists of a real scalar, and an imaginary 3-vector"""
+        """Quaternion consists of a real scalar, and an imaginary 3-vector."""
         assert isinstance(vec, sympy.Matrix)
         assert vec.shape == (3, 1), vec.shape
         self.real = real
         self.vec = vec
 
     def __mul__(self, right):
-        """quaternion multiplication"""
+        """Quaternion multiplication."""
         return Quaternion(
             self[3] * right[3] - self.vec.dot(right.vec),
             self[3] * right.vec + right[3] * self.vec + self.vec.cross(right.vec),
         )
 
     def __add__(self, right):
-        """quaternion multiplication"""
+        """Quaternion multiplication."""
         return Quaternion(self[3] + right[3], self.vec + right.vec)
 
     def __neg__(self):
         return Quaternion(-self[3], -self.vec)
 
     def __truediv__(self, scalar):
-        """scalar division"""
+        """Scalar division."""
         return Quaternion(self.real / scalar, self.vec / scalar)
 
     def __repr__(self):
@@ -47,15 +47,15 @@ def __getitem__(self, key):
         return self.vec[key]
 
     def squared_norm(self):
-        """squared norm when considering the quaternion as 4-tuple"""
+        """Squared norm when considering the quaternion as 4-tuple."""
         return squared_norm(self.vec) + self.real**2
 
     def conj(self):
-        """quaternion conjugate"""
+        """Quaternion conjugate."""
         return Quaternion(self.real, -self.vec)
 
     def inv(self):
-        """quaternion inverse"""
+        """Quaternion inverse."""
         return self.conj() / self.squared_norm()
 
     @staticmethod
@@ -87,7 +87,7 @@ def __eq__(self, other):
 
     @staticmethod
     def da_a_mul_b(_a, b):
-        """derivative of quaternion multiplication wrt left multiplier a"""
+        """Derivative of quaternion multiplication wrt left multiplier a."""
         v0 = b.vec[0]
         v1 = b.vec[1]
         v2 = b.vec[2]
@@ -98,7 +98,7 @@ def da_a_mul_b(_a, b):
 
     @staticmethod
     def db_a_mul_b(a, _b):
-        """derivative of quaternion multiplication wrt right multiplicand b"""
+        """Derivative of quaternion multiplication wrt right multiplicand b."""
         u0 = a.vec[0]
         u1 = a.vec[1]
         u2 = a.vec[2]

cpp/sophus/sympy/sophus/se2.py

@@ -17,17 +17,16 @@
 
 
 class Isometry2:
-    """2 dimensional group of rigid body transformations"""
+    """2 dimensional group of rigid body transformations."""
 
     def __init__(self, so2, t):
-        """internally represented by a unit complex number z and a translation
-        2-vector"""
+        """Internally represented by a unit complex number z and a translation 2-vector."""
         self.so2 = so2
         self.t = t
 
     @staticmethod
     def exp(v):
-        """exponential map"""
+        """Exponential map."""
         theta = v[2]
         so2 = Rotation2.exp(theta)
 
@@ -62,13 +61,12 @@ def hat(v):
         return Rotation2.hat(theta).row_join(upsilon).col_join(sympy.Matrix.zeros(1, 3))
 
     def matrix(self):
-        """returns matrix representation"""
+        """Returns matrix representation."""
         mat_r = self.so2.matrix()
         return (mat_r.row_join(self.t)).col_join(sympy.Matrix(1, 3, [0, 0, 1]))
 
     def __mul__(self, right):
-        """left-multiplication
-        either rotation concatenation or point-transform"""
+        """Left-multiplication either rotation concatenation or point-transform."""
         if isinstance(right, sympy.Matrix):
             assert right.shape == (2, 1), right.shape
             return self.so2 * right + self.t

cpp/sophus/sympy/sophus/se3.py

@@ -18,11 +18,10 @@
 
 
 class Isometry3:
-    """3 dimensional group of rigid body transformations"""
+    """3 dimensional group of rigid body transformations."""
 
     def __init__(self, so3, t):
-        """internally represented by a unit quaternion q and a translation
-        3-vector"""
+        """Internally represented by a unit quaternion q and a translation 3-vector."""
         assert isinstance(so3, Rotation3)
         assert isinstance(t, sympy.Matrix)
         assert t.shape == (3, 1), t.shape
@@ -32,7 +31,7 @@ def __init__(self, so3, t):
 
     @staticmethod
     def exp(v):
-        """exponential map"""
+        """Exponential map."""
         upsilon = v[0:3, :]
         omega = vector3(v[3], v[4], v[5])
         so3 = Rotation3.exp(omega)
@@ -79,31 +78,28 @@ def inverse(self):
 
     @staticmethod
     def hat(v):
-        """mat_r^6 => mat_r^4x4
-        returns 4x4-matrix representation ``mat_omega``"""
+        """mat_r^6 => mat_r^4x4 returns 4x4-matrix representation ``mat_omega``"""
         upsilon = vector3(v[0], v[1], v[2])
         omega = vector3(v[3], v[4], v[5])
         return Rotation3.hat(omega).row_join(upsilon).col_join(sympy.Matrix.zeros(1, 4))
 
     @staticmethod
     def vee(mat_omega):
-        """mat_r^4x4 => mat_r^6
-        returns 6-vector representation of Lie algebra
-        This is the inverse of the hat-operator"""
+        """mat_r^4x4 => mat_r^6 returns 6-vector representation of Lie algebra This is the inverse of the hat-
+        operator."""
 
         head = vector3(mat_omega[0, 3], mat_omega[1, 3], mat_omega[2, 3])
         tail = Rotation3.vee(mat_omega[0:3, 0:3])
         upsilon_omega = vector6(head[0], head[1], head[2], tail[0], tail[1], tail[2])
         return upsilon_omega
 
     def matrix(self):
-        """returns matrix representation"""
+        """Returns matrix representation."""
         mat_r = self.so3.matrix()
         return (mat_r.row_join(self.t)).col_join(sympy.Matrix(1, 4, [0, 0, 0, 1]))
 
     def __mul__(self, right):
-        """left-multiplication
-        either rotation concatenation or point-transform"""
+        """Left-multiplication either rotation concatenation or point-transform."""
         if isinstance(right, sympy.Matrix):
             assert right.shape == (3, 1), right.shape
             return self.so3 * right + self.t

cpp/sophus/sympy/sophus/so2.py

@@ -12,19 +12,19 @@
 
 
 class Rotation2:
-    """2 dimensional group of orthogonal matrices with determinant 1"""
+    """2 dimensional group of orthogonal matrices with determinant 1."""
 
     def __init__(self, z):
-        """internally represented by a unit complex number z"""
+        """Internally represented by a unit complex number z."""
         self.z = z
 
     @staticmethod
     def exp(theta):
-        """exponential map"""
+        """Exponential map."""
         return Rotation2(Complex(sympy.cos(theta), sympy.sin(theta)))
 
     def log(self):
-        """logarithmic map"""
+        """Logarithmic map."""
         return sympy.atan2(self.z.imag, self.z.real)
 
     def calc_dx_log_this(self):
@@ -44,12 +44,11 @@ def hat(theta):
         return sympy.Matrix([[0, -theta], [theta, 0]])
 
     def matrix(self):
-        """returns matrix representation"""
+        """Returns matrix representation."""
         return sympy.Matrix([[self.z.real, -self.z.imag], [self.z.imag, self.z.real]])
 
     def __mul__(self, right):
-        """left-multiplication
-        either rotation concatenation or point-transform"""
+        """Left-multiplication either rotation concatenation or point-transform."""
         if isinstance(right, sympy.Matrix):
             assert right.shape == (2, 1), right.shape
             return self.matrix() * right