No unnecessary inheritance from object and empty class brackets & other

Removed empty variables and whitespaces
formatting

PythonAPI/carla/agents/navigation/basic_agent.py

@@ -20,7 +20,7 @@
 from agents.tools.hints import ObstacleDetectionResult, TrafficLightDetectionResult
 
 
-class BasicAgent(object):
+class BasicAgent:
     """
     BasicAgent implements an agent that navigates the scene.
     This agent respects traffic lights and other vehicles, but ignores stop signs.
@@ -138,14 +138,14 @@ def get_local_planner(self):
     def get_global_planner(self):
         """Get method for protected member local planner"""
         return self._global_planner
-        
+
     def set_destination(self, end_location, start_location=None, clean_queue=True):
         # type: (carla.Location, carla.Location | None, bool) -> None
         """
         This method creates a list of waypoints between a starting and ending location,
         based on the route returned by the global router, and adds it to the local planner.
-        If no starting location is passed and `clean_queue` is True, the vehicle local planner's 
-        target location is chosen, which corresponds (by default), to a location about 5 meters 
+        If no starting location is passed and `clean_queue` is True, the vehicle local planner's
+        target location is chosen, which corresponds (by default), to a location about 5 meters
         in front of the vehicle.
         If `clean_queue` is False the newly planned route will be appended to the current route.
 
@@ -156,19 +156,19 @@ def set_destination(self, end_location, start_location=None, clean_queue=True):
         if not start_location:
             if clean_queue and self._local_planner.target_waypoint:
                 # Plan from the waypoint in front of the vehicle onwards
-                start_location = self._local_planner.target_waypoint.transform.location 
+                start_location = self._local_planner.target_waypoint.transform.location
             elif not clean_queue and self._local_planner._waypoints_queue:
                 # Append to the current plan
                 start_location = self._local_planner._waypoints_queue[-1][0].transform.location
             else:
                 # no target_waypoint or _waypoints_queue empty, use vehicle location
-                start_location = self._vehicle.get_location() 
+                start_location = self._vehicle.get_location()
         start_waypoint = self._map.get_waypoint(start_location)
         end_waypoint = self._map.get_waypoint(end_location)
-        
+
         route_trace = self.trace_route(start_waypoint, end_waypoint)
         self._local_planner.set_global_plan(route_trace, clean_queue=clean_queue)
-        
+
     def set_global_plan(self, plan, stop_waypoint_creation=True, clean_queue=True):
         """
         Adds a specific plan to the agent.
@@ -353,7 +353,7 @@ def get_route_polygon():
                 return None
 
             return Polygon(route_bb)
-      
+
         if self._ignore_vehicles:
             return ObstacleDetectionResult(False, None, -1)
 

PythonAPI/carla/agents/navigation/behavior_agent.py

@@ -8,7 +8,6 @@
 waypoints and avoiding other vehicles. The agent also responds to traffic lights,
 traffic signs, and has different possible configurations. """
 
-import random
 import numpy as np
 import carla
 from agents.navigation.basic_agent import BasicAgent

PythonAPI/carla/agents/navigation/behavior_types.py

@@ -4,7 +4,7 @@
 """ This module contains the different parameters sets for each behavior. """
 
 
-class Cautious(object):
+class Cautious:
     """Class for Cautious agent."""
     max_speed = 40
     speed_lim_dist = 6
@@ -15,7 +15,7 @@ class Cautious(object):
     tailgate_counter = 0
 
 
-class Normal(object):
+class Normal:
     """Class for Normal agent."""
     max_speed = 50
     speed_lim_dist = 3
@@ -26,7 +26,7 @@ class Normal(object):
     tailgate_counter = 0
 
 
-class Aggressive(object):
+class Aggressive:
     """Class for Aggressive agent."""
     max_speed = 70
     speed_lim_dist = 1

PythonAPI/carla/agents/navigation/controller.py

@@ -12,7 +12,7 @@
 from agents.tools.misc import get_speed
 
 
-class VehiclePIDController():
+class VehiclePIDController:
     """
     VehiclePIDController is the combination of two PID controllers
     (lateral and longitudinal) to perform the
@@ -105,7 +105,7 @@ def set_offset(self, offset):
         self._lat_controller.set_offset(offset)
 
 
-class PIDLongitudinalController():
+class PIDLongitudinalController:
     """
     PIDLongitudinalController implements longitudinal control using a PID.
     """
@@ -171,7 +171,7 @@ def change_parameters(self, K_P, K_I, K_D, dt):
         self._dt = dt
 
 
-class PIDLateralController():
+class PIDLateralController:
     """
     PIDLateralController implements lateral control using a PID.
     """

PythonAPI/carla/agents/navigation/global_route_planner.py

@@ -26,28 +26,31 @@
         from typing_extensions import NotRequired
     else:
         from typing_extensions import TypedDict, NotRequired
-
-    TopologyDict = TypedDict('TopologyDict', {'entry': carla.Waypoint, 
-                                              'exit': carla.Waypoint,
-                                              'entryxyz': tuple[float, float, float], 
-                                              'exitxyz': tuple[float, float, float], 
-                                              'path': list[carla.Waypoint]})
-
-    EdgeDict = TypedDict('EdgeDict', 
+
+    TopologyDict = TypedDict('TopologyDict',
+        {
+            'entry': carla.Waypoint,
+            'exit': carla.Waypoint,
+            'entryxyz': tuple[float, float, float],
+            'exitxyz': tuple[float, float, float],
+            'path': list[carla.Waypoint]
+        })
+
+    EdgeDict = TypedDict('EdgeDict',
         {
             'length': int,
             'path': list[carla.Waypoint],
-            'entry_waypoint': carla.Waypoint, 
-            'exit_waypoint': carla.Waypoint, 
-            'entry_vector': np.ndarray, 
-            'exit_vector': np.ndarray, 
-            'net_vector': list[float], 
-            'intersection': bool, 
-            'type': RoadOption, 
+            'entry_waypoint': carla.Waypoint,
+            'exit_waypoint': carla.Waypoint,
+            'entry_vector': np.ndarray,
+            'exit_vector': np.ndarray,
+            'net_vector': list[float],
+            'intersection': bool,
+            'type': RoadOption,
             'change_waypoint': NotRequired[carla.Waypoint]
         })
 
-class GlobalRoutePlanner(object):
+class GlobalRoutePlanner:
     """
     This class provides a very high level route plan.
     """
@@ -353,7 +356,7 @@ def _successive_last_intersection_edge(self, index, route):
         for node1, node2 in [(route[i], route[i + 1]) for i in range(index, len(route) - 1)]:
             candidate_edge = self._graph.edges[node1, node2]  # type: EdgeDict
             if node1 == route[index]:
-                last_intersection_edge = candidate_edge  
+                last_intersection_edge = candidate_edge
             if candidate_edge['type'] == RoadOption.LANEFOLLOW and candidate_edge['intersection']:
                 last_intersection_edge = candidate_edge
                 last_node = node2

PythonAPI/carla/agents/navigation/local_planner.py

@@ -28,7 +28,7 @@ class RoadOption(IntEnum):
     CHANGELANERIGHT = 6
 
 
-class LocalPlanner(object):
+class LocalPlanner:
     """
     LocalPlanner implements the basic behavior of following a
     trajectory of waypoints that is generated on-the-fly.
@@ -287,7 +287,7 @@ def get_incoming_waypoint_and_direction(self, steps=3):
             try:
                 wpt, direction = self._waypoints_queue[-1]
                 return wpt, direction
-            except IndexError as i:
+            except IndexError:
                 return None, RoadOption.VOID
 
     def get_plan(self):

PythonAPI/carla/agents/tools/hints.py

@@ -18,7 +18,7 @@
     class ObstacleDetectionResult(NamedTuple):
         obstacle_was_found : bool
         obstacle : Union[Actor, None]
-        distance : float 
+        distance : float
         # distance : Union[float, Literal[-1]] # Python 3.8+ only
 
     class TrafficLightDetectionResult(NamedTuple):
@@ -30,5 +30,5 @@ class TrafficLightDetectionResult(NamedTuple):
         ObstacleDetectionResult = NamedTuple('ObstacleDetectionResult', [('obstacle_was_found', bool), ('obstacle', Union[Actor, None]), ('distance', Union[float, Literal[-1]])])
     else:
         ObstacleDetectionResult = NamedTuple('ObstacleDetectionResult', [('obstacle_was_found', bool), ('obstacle', Union[Actor, None]), ('distance', float)])
-    
+
     TrafficLightDetectionResult = NamedTuple('TrafficLightDetectionResult', [('traffic_light_was_found', bool), ('traffic_light', Union[TrafficLight, None])])

PythonAPI/carla/agents/tools/misc.py

@@ -142,7 +142,7 @@ def vector(location_1, location_2):
     Returns the unit vector from location_1 to location_2
 
         :param location_1, location_2: carla.Location objects
-        
+
     .. note::
         Alternatively you can use:
         `(location_2 - location_1).make_unit_vector()`
@@ -159,7 +159,7 @@ def compute_distance(location_1, location_2):
     Euclidean distance between 3D points
 
         :param location_1, location_2: 3D points
-        
+
     .. deprecated:: 0.9.13
         Use `location_1.distance(location_2)` instead
     """