Formatting clean up

examples/BskSim/models/BSK_Dynamics.py

@@ -82,12 +82,12 @@ def __init__(self, SimBase, dynRate):
         SimBase.AddModelToTask(self.taskName, self.thrustersDynamicEffectorACS, 302)
         SimBase.AddModelToTask(self.taskName, self.thrustersDynamicEffectorDV, 303)
         SimBase.AddModelToTask(self.taskName, self.extForceTorqueObject, 300)
-        
+
         SimBase.createNewEvent("addOneTimeRWFault", self.processTasksTimeStep, True,
             ["self.TotalSim.getCurrentNanos()>=self.oneTimeFaultTime and self.oneTimeRWFaultFlag==1"],
             ["self.DynModels.AddRWFault('friction',0.05,1, self.TotalSim.getCurrentNanos())", "self.oneTimeRWFaultFlag=0"])
 
-        
+
         SimBase.createNewEvent("addRepeatedRWFault", self.processTasksTimeStep, True,
             ["self.repeatRWFaultFlag==1"],
             ["self.DynModels.PeriodicRWFault(1./3000,'friction',0.005,1, self.TotalSim.getCurrentNanos())", "self.setEventActivity('addRepeatedRWFault',True)"])
@@ -170,7 +170,7 @@ def SetReactionWheelDynEffector(self):
                                          gsHat,
                                          maxMomentum=maxRWMomentum,
                                          rWB_B=rwPosVector[0])
-        
+
         gsHat = (rbk.Mi(-rwAzimuthAngle[1], 3).dot(rbk.Mi(rwElAngle[1], 2))).dot(np.array([1, 0, 0]))
         self.RW2 = self.rwFactory.create('Honeywell_HR16',
                                          gsHat,
@@ -182,7 +182,7 @@ def SetReactionWheelDynEffector(self):
                                          gsHat,
                                          maxMomentum=maxRWMomentum,
                                          rWB_B=rwPosVector[2])
-            
+
         gsHat = (rbk.Mi(-rwAzimuthAngle[3], 3).dot(rbk.Mi(rwElAngle[3], 2))).dot(np.array([1, 0, 0]))
         self.RW4 = self.rwFactory.create('Honeywell_HR16',
                                          gsHat,
@@ -302,9 +302,9 @@ def PeriodicRWFault(self, probability, faultType, fault, faultRW, currentTime):
         """
         if np.random.uniform() < probability:
             self.AddRWFault(faultType, fault, faultRW, currentTime)
-        
-        
-    
+
+
+
     def AddRWFault(self, faultType, fault, faultRW, currentTime):
         """
         Adds a static friction fault to the reaction wheel.
@@ -337,4 +337,3 @@ def InitAllDynObjects(self):
         self.SetReactionWheelDynEffector()
         self.SetACSThrusterStateEffector()
         self.SetDVThrusterStateEffector()
-

examples/BskSim/scenarios/scenario_AddRWFault.py

@@ -22,7 +22,7 @@
 This script demonstrates how to use event handlers to add reaction wheel faults. The script is found in the folder ``basilisk/examples/BskSim/scenarios`` and executed by using::
 
       python3 scenario_AddRWFault.py
-      
+
 Using event handlers
 --------------------
 
@@ -112,11 +112,11 @@ def __init__(self):
 
         self.configure_initial_conditions()
         self.log_outputs()
-        
+
         self.oneTimeRWFaultFlag = 1
         self.repeatRWFaultFlag = 1
         self.oneTimeFaultTime = macros.min2nano(10.)
-        
+
         DynModels = self.get_DynModel()
         self.DynModels.RWFaultLog = []
 
@@ -166,7 +166,7 @@ def pull_outputs(self, showPlots):
 
         sigma_BR = np.delete(attErrRec.sigma_BR, 0, 0)
         omega_BR_B = np.delete(attErrRec.omega_BR_B, 0, 0)
-        
+
         num_RW = 4
         RW_speeds = np.delete(self.rwSpeedRec.wheelSpeeds[:, range(num_RW)], 0, 0)
         RW_friction = []
@@ -197,7 +197,7 @@ def runScenario(scenario):
 
     simulationTime = macros.min2nano(30.)
     scenario.modeRequest = "hillPoint"
-        
+
     # Run the simulation
     scenario.InitializeSimulation()
     scenario.ConfigureStopTime(simulationTime)

src/architecture/system_model/sim_model.cpp

@@ -610,6 +610,3 @@ uint64_t SimModel::getCurrentNanos() const {
 uint64_t SimModel::getNextTaskTime() const {
     return this->NextTaskTime;
 }
-
-
-

src/architecture/system_model/sim_model.h

@@ -93,7 +93,7 @@ class SimModel
 public:
     SimModel();  //!< The SimModel constructor
     ~SimModel();  //!< SimModel destructorS
-    
+
     void selfInitSimulation();  //!< Method to initialize all added Tasks
     void resetInitSimulation();  //!< Method to reset all added tasks
     void StepUntilStop(uint64_t SimStopTime, int64_t stopPri);  //!< Step simulation until stop time uint64_t reached

src/architecture/system_model/sim_model.i

@@ -70,7 +70,7 @@ namespace std {
         SWIG_exception(SWIG_RuntimeError, e.what());
     } catch (const std::string& e) {
         SWIG_exception(SWIG_RuntimeError, e.c_str());
-    } 
+    }
 }
 
 %include "sys_model_task.h"
@@ -129,4 +129,4 @@ namespace std {
             )
             return self.getPrevRouteTime()
     %}
-}
+}

src/architecture/system_model/sys_model_task.cpp

@@ -57,7 +57,7 @@ void SysModelTask::SelfInitTaskList()
 {
     std::vector<ModelPriorityPair>::iterator ModelPair;
     SysModel* NonIt;
-    
+
     //! - Loop over all models and do the self init for each
     for(ModelPair = this->TaskModels.begin(); ModelPair != this->TaskModels.end();
         ModelPair++)
@@ -95,7 +95,7 @@ void SysModelTask::ExecuteTaskList(uint64_t CurrentSimNanos)
 {
     std::vector<ModelPriorityPair>::iterator ModelPair;
     SysModel* NonIt;
-    
+
     //! - Loop over all of the models in the simulation and call their UpdateState
     for(ModelPair = this->TaskModels.begin(); (ModelPair != this->TaskModels.end() && this->taskActive);
         ModelPair++)
@@ -118,7 +118,7 @@ void SysModelTask::AddNewObject(SysModel *NewModel, int32_t Priority)
 {
     std::vector<ModelPriorityPair>::iterator ModelPair;
     ModelPriorityPair LocalPair;
-    
+
     //! - Set the local pair with the requested priority and mode
     LocalPair.CurrentModelPriority = Priority;
     LocalPair.ModelPtr = NewModel;

src/architecture/system_model/sys_model_task.h

@@ -34,7 +34,7 @@ typedef struct {
 //! Class used to group a set of models into one "Task" of execution
 class SysModelTask
 {
-    
+
 public:
     SysModelTask();
     SysModelTask(uint64_t InputPeriod, uint64_t FirstStartTime=0); //!< class method

src/architecture/system_model/sys_model_task.i

@@ -114,4 +114,4 @@ namespace std {
         )
         self.setFirstTaskTime(value)
     %}
-}
+}

src/architecture/system_model/sys_process.cpp

@@ -148,7 +148,7 @@ void SysProcess::singleStepNextTask(uint64_t currentNanos)
     SysModelTask *localTask = fireIt->TaskPtr;
     localTask->ExecuteTaskList(currentNanos);
     fireIt->NextTaskStart = localTask->getNextStartTime();
-    
+
     //! - Figure out when we are going to be called next for scheduling purposes
     fireIt=this->processTasks.begin();
     //! - If the requested time does not meet our next start time, just return
@@ -207,7 +207,7 @@ void SysProcess::scheduleTask(ModelScheduleEntry & taskCall)
     this->processTasks.push_back(taskCall);
 }
 
-/*! The name kind of says it all right?  It is a shotgun used to disable all of 
+/*! The name kind of says it all right?  It is a shotgun used to disable all of
     a process' tasks.  It is handy for a FSW scheme where you have tons of tasks
     and you are really only turning one on at a time.
     @return void
@@ -222,7 +222,7 @@ void SysProcess::disableAllTasks()
     }
 }
 /*! The name kind of says it all right?  It is a shotgun used to enable all of
- a processes tasks.  It is handy for a process that starts out almost entirely 
+ a processes tasks.  It is handy for a process that starts out almost entirely
  inhibited but you want to turn it all on at once.
  @return void
  */
@@ -236,7 +236,7 @@ void SysProcess::enableAllTasks()
     }
 }
 
-/*! This method updates a specified task's period once it locates that task 
+/*! This method updates a specified task's period once it locates that task
     in the list.  It will warn the user if a task is not found.
     @return void
 	@param taskName The name of the task you want to change period of
@@ -262,4 +262,3 @@ void SysProcess::changeTaskPeriod(std::string taskName, uint64_t newPeriod)
 uint64_t SysProcess::getPrevRouteTime() const {
     return this->prevRouteTime;
 }
-

src/architecture/system_model/sys_process.h

@@ -36,7 +36,7 @@ typedef struct {
 //! Class used to group a set of tasks into one process (task group) of execution
 class SysProcess
 {
-    
+
 public:
     SysProcess();
     SysProcess(std::string messageContainer); //!< class method

src/fswAlgorithms/attDetermination/InertialUKF/_UnitTest/test_inertialKF.py

@@ -873,4 +873,4 @@ def faultScenarios(show_plots):
     # stateUpdateRWInertialAttitude(True)
     # statePropRateInertialAttitude(True)
     # faultScenarios(True)
-    all_inertial_kfTest(True)
+    all_inertial_kfTest(True)

src/fswAlgorithms/orbitControl/lambertValidator/_UnitTest/test_lambertValidator.py

@@ -1,20 +1,20 @@
-# 
+#
 #  ISC License
-# 
+#
 #  Copyright (c) 2021, Autonomous Vehicle Systems Lab, University of Colorado Boulder
-# 
+#
 #  Permission to use, copy, modify, and/or distribute this software for any
 #  purpose with or without fee is hereby granted, provided that the above
 #  copyright notice and this permission notice appear in all copies.
-# 
+#
 #  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 #  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 #  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 #  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 #  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 #  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 #  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
-# 
+#
 #
 import copy
 import itertools

src/fswAlgorithms/pointCloudProcessing/pointCloudTriangulation/_UnitTest/test_pointCloudTriangulation.py

@@ -1,20 +1,20 @@
-# 
+#
 #  ISC License
-# 
+#
 #  Copyright (c) 2023, Autonomous Vehicle Systems Lab, University of Colorado Boulder
-# 
+#
 #  Permission to use, copy, modify, and/or distribute this software for any
 #  purpose with or without fee is hereby granted, provided that the above
 #  copyright notice and this permission notice appear in all copies.
-# 
+#
 #  THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 #  WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 #  MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 #  ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 #  WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 #  ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 #  OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
-# 
+#
 #
 
 import copy

src/simulation/dynamics/ExtPulsedTorque/_UnitTest/test_extPulsedTorque.py

@@ -167,4 +167,3 @@ def run(show_plots, offCount):
     test_module(False,       # show_plots
                 3            # offCount
                )
-

src/simulation/sensors/imuSensor/_UnitTest/test_imu_sensor.py

@@ -587,4 +587,4 @@ def unitSimIMU(show_plots,   testCase,       stopTime,       procRate, gyroLSBIn
 # stand-along python script
 if __name__ == "__main__":
     # unitSimIMU(True,        'noise',        1.0,            0.01,       0.0,            0.0,            1000.,          1000.,          0.0,                0.0,                0.0,                0.0,                0.,             0.,             1e-8)
-    unitSimIMU(False,         'noise',        1.0,            0.001,      0.0,            0.0,            1000.,          1000.,          .1,                 .1,                 0.1,                0.1,                0.0,            0.0,            1e-1)
+    unitSimIMU(False,         'noise',        1.0,            0.001,      0.0,            0.0,            1000.,          1000.,          .1,                 .1,                 0.1,                0.1,                0.0,            0.0,            1e-1)

src/utilities/SimulationBaseClass.py

@@ -351,7 +351,7 @@ def CreateNewTask(self, TaskName, TaskRate, InputDelay=None, FirstStart=0):
 
     # When this method is removed, remember to delete the 'oldSyntaxVariableLog' and
     # 'allModels' attributes (as well as any mention of them) as they are no longer needed
-    @deprecated.deprecated("2024/09/06", 
+    @deprecated.deprecated("2024/09/06",
         "Use the 'logger' function or 'PythonVariableLogger' instead of 'AddVariableForLogging'."
         " See 'http://hanspeterschaub.info/basilisk/Learn/bskPrinciples/bskPrinciples-6.html'"
     )
@@ -362,18 +362,18 @@ def AddVariableForLogging(self, VarName: str, LogPeriod: int = 0, *_, **__):
         Args:
             VarName (str): The variable to log in the format "<ModelTag>.<variable_name>"
             LogPeriod (int, optional): The minimum time between logs. Defaults to 0.
-        """        
+        """
         if "." not in VarName:
             raise ValueError('The variable to log must be given in the format '
                              '"<ModelTag>.<variable_name>"')
-        
+
         modelTag = VarName.split('.')[0]
 
         # Calling eval on a pre-compiled string is faster than
         # eval-ing the string (by a large factor)
         compiledExpr = compile(VarName, "<logged-variable>", "eval")
 
-        # Find the model object that corresponds to the given tag, as well as the 
+        # Find the model object that corresponds to the given tag, as well as the
         # task where this model was added
         modelOrConfig = task = None
         for model, modelData, task in self.allModels:
@@ -388,7 +388,7 @@ def AddVariableForLogging(self, VarName: str, LogPeriod: int = 0, *_, **__):
         # expression. We pass a dictionary '{modelTag: modelOrConfig}'
         # that allows the expression to substitute the modelTag by the
         # actual model object
-        def fun(_): 
+        def fun(_):
             val = eval(compiledExpr, globals(), {modelTag: modelOrConfig})
             val = np.array(val).squeeze()
             return val
@@ -423,7 +423,7 @@ def ConfigureStopTime(self, TimeStop):
         """
         self.StopTime = TimeStop
 
-    @deprecated.deprecated("2024/09/06", 
+    @deprecated.deprecated("2024/09/06",
         "Calling 'RecordLogVars' is deprecated and unnecessary."
     )
     def RecordLogVars(self):
@@ -456,18 +456,18 @@ def ExecuteSimulation(self):
         progressBar.markComplete()
         progressBar.close()
 
-    @deprecated.deprecated("2024/09/06", 
+    @deprecated.deprecated("2024/09/06",
         "Deprecated way to access logged variables."
         " See 'http://hanspeterschaub.info/basilisk/Learn/bskPrinciples/bskPrinciples-6.html'"
     )
     def GetLogVariableData(self, LogName):
         """
         Pull the recorded module recorded variable.  The first column is the variable recording time in
         nano-seconds, the additional column(s) are the message data columns.
-        """        
+        """
         if LogName not in self.oldSyntaxVariableLog:
             raise ValueError(f'"{LogName}" is not being logged. Check the spelling.')
-        
+
         logger = self.oldSyntaxVariableLog[LogName]
         return np.column_stack([logger.times(), logger.variable])
 
@@ -581,10 +581,10 @@ def setModelDataWrap(self, modelData):
                 "\tscSim.AddModelToTask(simTaskName, inertial3D, 10)\n"
             )
             return modelData.createWrapper()
-    
+
         deprecated.deprecationWarn(
-            deprecationId, 
-            removalDate, 
+            deprecationId,
+            removalDate,
             "This C module has not been converted yet to the new way of defining C "
             "modules, which makes using them more intuitive. Take the time to see how "
             "the new C module '.i' file looks by checking out a default Basilisk module"