Function update_entity has a Cognitive Complexity of 35 (exceeds 5 allowed). Consider refactoring.

Open

    def update_entity(self, id, type = None, posestamped = None, flags = None, add_flags = [], remove_flags = [], action = None):
        """
        Updates entity
        :param id: entity id
        :param type: entity type

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File arms.py has 324 lines of code (exceeds 250 allowed). Consider refactoring.

Open

#! /usr/bin/env python

import rospy
import std_msgs.msg
import tf_server

File mockbot.py has 280 lines of code (exceeds 250 allowed). Consider refactoring.

Open

#! /usr/bin/env python
import random
from collections import defaultdict

import geometry_msgs

Function indent has a Cognitive Complexity of 15 (exceeds 5 allowed). Consider refactoring.

Open

    def indent(self, elem, level=0):
        i = "\n" + level*"  "
        if len(elem):
            if not elem.text or not elem.text.strip():
                elem.text = i + "  "

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Function _send_joint_trajectory has a Cognitive Complexity of 14 (exceeds 5 allowed). Consider refactoring.

Open

    def _send_joint_trajectory(self, joints_references, timeout=rospy.Duration(5), joint_names = None):
        '''
        Low level method that sends a array of joint references to the arm.

        If timeout is defined, it will wait for timeout*len(joints_reference) seconds for the

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Function send_goal has 11 arguments (exceeds 4 allowed). Consider refactoring.

Open

    def send_goal(self, px, py, pz, roll, pitch, yaw,

Function _send_goal has a Cognitive Complexity of 11 (exceeds 5 allowed). Consider refactoring.

Open

    def _send_goal(self, torso_pos, timeout=0.0, tolerance = []):
        rospy.logdebug("Send torso goal {0}, timeout = {1}".format(torso_pos, timeout))

        if len(torso_pos) != len(self.joint_names):
            rospy.logwarn('Length of desired torso pos {0} does not correspond with number of joints {1}'.format(len(torso_pos), len(self.joint_names)))

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Function PoseStamped has 10 arguments (exceeds 4 allowed). Consider refactoring.

Open

def PoseStamped(x=0, y=0, z=0, phi=0,

Function speak has a Cognitive Complexity of 10 (exceeds 5 allowed). Consider refactoring.

Open

    def speak(self, sentence, language=None, personality=None, voice=None, mood=None, block=True, replace={"_":" "}):
        """
        Send a sentence to the text to speech module.
        You can set language, personality, voice and mood for the Phiips TTS.
        When block=False, this method returns immediatly.

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Function close has a Cognitive Complexity of 10 (exceeds 5 allowed). Consider refactoring.

Open

    def close(self):
        try:
            self.head.close()
        except: pass

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Function __init__ has 27 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    def __init__(self, robot_name):

        self._robot_name = robot_name
        self.rosbag = False
        rospy.loginfo("Nav_analyser: Bagging = {0}".format(self.rosbag))

Function _setHeadReferenceGoal has 8 arguments (exceeds 4 allowed). Consider refactoring.

Open

    def _setHeadReferenceGoal(self, goal_type, pan_vel, tilt_vel, end_time, point_stamped=PointStamped(), pan=0, tilt=0, timeout=0):

Function Pose has 7 arguments (exceeds 4 allowed). Consider refactoring.

Open

def Pose(x=0, y=0, z=0, phi=0, roll=0, pitch=0, yaw=0):

Function speak has 7 arguments (exceeds 4 allowed). Consider refactoring.

Open

    def speak(self, sentence, language=None, personality=None, voice=None, mood=None, block=True, replace={"_":" "}):

Function Quaternion has 7 arguments (exceeds 4 allowed). Consider refactoring.

Open

def Quaternion(x=0, y=0, z=0, w=0, roll=0, pitch=0, yaw=0):

Function update_entity has 7 arguments (exceeds 4 allowed). Consider refactoring.

Open

    def update_entity(self, id, type = None, posestamped = None, flags = None, add_flags = [], remove_flags = [], action = None):

Function PointStamped has 6 arguments (exceeds 4 allowed). Consider refactoring.

Open

def PointStamped(x=0, y=0, z=0, frame_id="/map", stamp=None, point=None):

Avoid deeply nested control flow statements.

Open

                        if not first:
                            json_entity += ','
                        json_entity += '{"%s":"%s"}' % (k,v)

Consider simplifying this complex logical expression.

Open

    if x or y or z or w:
        return gm.Quaternion(x, y, z, w)
    elif roll or pitch or yaw:
        quat_parts = tf.transformations.quaternion_from_euler(roll, pitch, yaw)
        quat = Quaternion(*quat_parts)

Function look_at_point has 5 arguments (exceeds 4 allowed). Consider refactoring.

Open

    def look_at_point(self, point_stamped, end_time=0, pan_vel=1.0, tilt_vel=1.0, timeout=0):