From f9a4fc15809db6f0516b41c7752bbc8e2bd32538 Mon Sep 17 00:00:00 2001
From: Atsushi Sakai <asakai.amsl+github@gmail.com>
Date: Sat, 2 Feb 2019 10:38:37 +0900
Subject: [PATCH] code cleanup

---
 PathPlanning/RRTDubins/rrt_dubins.py          |  2 +-
 .../RRTStarReedsShepp/rrt_star_reeds_shepp.py | 32 ++++++++++---------
 appveyor.yml                                  |  2 +-
 3 files changed, 19 insertions(+), 17 deletions(-)

diff --git a/PathPlanning/RRTDubins/rrt_dubins.py b/PathPlanning/RRTDubins/rrt_dubins.py
index b385cff1..976d3c47 100644
--- a/PathPlanning/RRTDubins/rrt_dubins.py
+++ b/PathPlanning/RRTDubins/rrt_dubins.py
@@ -75,7 +75,7 @@ class RRT():
         return path
 
     def choose_parent(self, newNode, nearinds):
-        if len(nearinds) == 0:
+        if not nearinds:
             return newNode
 
         dlist = []
diff --git a/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py b/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py
index 8e4dd8e4..af817fc8 100644
--- a/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py
+++ b/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py
@@ -5,16 +5,18 @@ Path Planning Sample Code with RRT for car like robot.
 author: AtsushiSakai(@Atsushi_twi)
 
 """
-
+import matplotlib.pyplot as plt
+import numpy as np
+import copy
+import math
+import random
 import sys
 sys.path.append("../ReedsSheppPath/")
 
-import random
-import math
-import copy
-import numpy as np
-import reeds_shepp_path_planning
-import matplotlib.pyplot as plt
+try:
+    import reeds_shepp_path_planning
+except:
+    raise
 
 show_animation = True
 STEP_SIZE = 0.1
@@ -80,7 +82,7 @@ class RRT():
         return path
 
     def choose_parent(self, newNode, nearinds):
-        if len(nearinds) == 0:
+        if not nearinds:
             return newNode
 
         dlist = []
@@ -166,7 +168,7 @@ class RRT():
         #  print("OK YAW TH num is")
         #  print(len(fgoalinds))
 
-        if len(fgoalinds) == 0:
+        if not fgoalinds:
             return None
 
         mincost = min([self.nodeList[i].cost for i in fgoalinds])
@@ -194,9 +196,9 @@ class RRT():
         nnode = len(self.nodeList)
         r = 50.0 * math.sqrt((math.log(nnode) / nnode))
         #  r = self.expandDis * 5.0
-        dlist = [(node.x - newNode.x) ** 2 +
-                 (node.y - newNode.y) ** 2 +
-                 (node.yaw - newNode.yaw) ** 2
+        dlist = [(node.x - newNode.x) ** 2
+                 + (node.y - newNode.y) ** 2
+                 + (node.yaw - newNode.yaw) ** 2
                  for node in self.nodeList]
         nearinds = [dlist.index(i) for i in dlist if i <= r ** 2]
         return nearinds
@@ -247,9 +249,9 @@ class RRT():
         #  input()
 
     def GetNearestListIndex(self, nodeList, rnd):
-        dlist = [(node.x - rnd.x) ** 2 +
-                 (node.y - rnd.y) ** 2 +
-                 (node.yaw - rnd.yaw) ** 2 for node in nodeList]
+        dlist = [(node.x - rnd.x) ** 2
+                 + (node.y - rnd.y) ** 2
+                 + (node.yaw - rnd.yaw) ** 2 for node in nodeList]
         minind = dlist.index(min(dlist))
 
         return minind
diff --git a/appveyor.yml b/appveyor.yml
index 62801f14..bb57d307 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -13,7 +13,7 @@ environment:
 init:
   - "ECHO %MINICONDA% %PYTHON_VERSION% %PYTHON_ARCH%"
 
- 
+
 install:
   # If there is a newer build queued for the same PR, cancel this one.
   # The AppVeyor 'rollout builds' option is supposed to serve the same