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[src]factorial in Scipy has moved, and removed a useless python2 print statement #4

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[src]factorial in Scipy has moved, and removed a useless python2 print statement #4

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7 changes: 5 additions & 2 deletions ...ontrol/uuv_trajectory_control/src/uuv_trajectory_generator/path_generator/bezier_curve.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,11 @@
# limitations under the License.

import numpy as np
from scipy.misc import factorial

# Factorial function has moved in recent Scipy version
try:
from scipy.misc import factorial
except ImportError:
from scipy.special import factorial

class BezierCurve(object):
"""
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2 changes: 0 additions & 2 deletions uuv_tutorials/uuv_tutorial_dp_controller/scripts/tutorial_dp_controller.py
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Expand Up @@ -90,7 +90,6 @@ def __init__(self):
diag = rospy.get_param('~Kd')
if len(diag) == 6:
self._Kd = np.diag(diag)
print 'Kd=\n', self._Kd
else:
# If the vector provided has the wrong dimension, raise an exception
raise rospy.ROSException('For the Kd diagonal matrix, 6 coefficients are needed')
Expand All @@ -99,7 +98,6 @@ def __init__(self):
diag = rospy.get_param('~Ki')
if len(diag) == 6:
self._Ki = np.diag(diag)
print 'Ki=\n', self._Ki
else:
# If the vector provided has the wrong dimension, raise an exception
raise rospy.ROSException('For the Ki diagonal matrix, 6 coefficients are needed')
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