File biomechanical_model.py has 551 lines of code (exceeds 250 allowed). Consider refactoring. Open
from typing import Any
import numpy as np
from numpy import transpose
- Create a ticketCreate a ticket
Function holonomic_constraints_jacobian has a Cognitive Complexity of 18 (exceeds 5 allowed). Consider refactoring. Open
def holonomic_constraints_jacobian(self, Q: NaturalCoordinates) -> np.ndarray:
"""
This function returns the Jacobian matrix the holonomic constraints, denoted K.
They are organized as follow, for each segmen, the rows of the matrix are:
[Phi_k_0, Phi_r_0, Phi_k_1, Phi_r_1, ..., Phi_k_n, Phi_r_n]- Read upRead up
- Create a ticketCreate a ticket
Cognitive Complexity
Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.
A method's cognitive complexity is based on a few simple rules:
- Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
- Code is considered more complex for each "break in the linear flow of the code"
- Code is considered more complex when "flow breaking structures are nested"
Further reading
Function holonomic_constraints_jacobian_derivative has a Cognitive Complexity of 18 (exceeds 5 allowed). Consider refactoring. Open
def holonomic_constraints_jacobian_derivative(self, Qdot: NaturalVelocities) -> np.ndarray:
"""
This function returns the Jacobian matrix the holonomic constraints, denoted Kdot.
They are organized as follow, for each segment, the rows of the matrix are:
[Phi_k_0, Phi_r_0, Phi_k_1, Phi_r_1, ..., Phi_k_n, Phi_r_n]- Read upRead up
- Create a ticketCreate a ticket
Cognitive Complexity
Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.
A method's cognitive complexity is based on a few simple rules:
- Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
- Code is considered more complex for each "break in the linear flow of the code"
- Code is considered more complex when "flow breaking structures are nested"
Further reading
Function _inverse_dynamics_recursive_step has 9 arguments (exceeds 4 allowed). Consider refactoring. Open
def _inverse_dynamics_recursive_step(- Create a ticketCreate a ticket
Function holonomic_constraints has a Cognitive Complexity of 10 (exceeds 5 allowed). Consider refactoring. Open
def holonomic_constraints(self, Q: NaturalCoordinates) -> np.ndarray:
"""
This function returns the holonomic constraints of the system, denoted Phi_h
as a function of the natural coordinates Q. They are organized as follow, for each segment:
[Phi_k_0, Phi_r_0, Phi_k_1, Phi_r_1, ..., Phi_k_n, Phi_r_n]- Read upRead up
- Create a ticketCreate a ticket
Cognitive Complexity
Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.
A method's cognitive complexity is based on a few simple rules:
- Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
- Code is considered more complex for each "break in the linear flow of the code"
- Code is considered more complex when "flow breaking structures are nested"
Further reading
Function forward_dynamics has 5 arguments (exceeds 4 allowed). Consider refactoring. Open
def forward_dynamics(- Create a ticketCreate a ticket