update docstrings

docs/src/conf.py

@@ -65,4 +65,6 @@
 #     "**": ["search-field.html", "sidebar-nav-bs.html", "sidebar-ethical-ads.html"]
 # }
 html_last_updated_fmt = "%b %d, %Y"
-html_show_sourcelink = True
+html_show_sourcelink = True
+
+copybutton_prompt_text = ">>> "

gym/f110_gym/envs/collision_models.py

@@ -4,14 +4,17 @@
 
 @njit(cache=True)
 def perpendicular(pt):
-    """
-    Return a 2-vector's perpendicular vector
+    """Return a 2-vector's perpendicular vector
 
-    Args:
-        pt (np.ndarray, (2,)): input vector
+    Parameters
+    ----------
+    pt : np.ndarray
+        input vector
 
-    Returns:
-        pt (np.ndarray, (2,)): perpendicular vector
+    Returns
+    -------
+    np.ndarray
+        perpendicular vector
     """
     temp = pt[0]
     pt[0] = pt[1]
@@ -21,14 +24,21 @@ def perpendicular(pt):
 
 @njit(cache=True)
 def tripleProduct(a, b, c):
-    """
-    Return triple product of three vectors
-
-    Args:
-        a, b, c (np.ndarray, (2,)): input vectors
-
-    Returns:
-        (np.ndarray, (2,)): triple product
+    """Return triple product of three vectors
+
+    Parameters
+    ----------
+    a : np.ndarray
+        input vector
+    b : np.ndarray
+        input vector
+    c : np.ndarray
+        input vector
+
+    Returns
+    -------
+    np.ndarray
+        triple product
     """
     ac = a.dot(c)
     bc = b.dot(c)
@@ -37,44 +47,57 @@ def tripleProduct(a, b, c):
 
 @njit(cache=True)
 def avgPoint(vertices):
-    """
-    Return the average point of multiple vertices
+    """Return the average point of multiple vertices
 
-    Args:
-        vertices (np.ndarray, (n, 2)): the vertices we want to find avg on
+    Parameters
+    ----------
+    vertices : np.ndarray
+        the vertices we want to find avg on
 
-    Returns:
-        avg (np.ndarray, (2,)): average point of the vertices
+    Returns
+    -------
+    np.ndarray
+        average point of the vertices
     """
     return np.sum(vertices, axis=0) / vertices.shape[0]
 
 
 @njit(cache=True)
 def indexOfFurthestPoint(vertices, d):
-    """
-    Return the index of the vertex furthest away along a direction in the list of vertices
-
-    Args:
-        vertices (np.ndarray, (n, 2)): the vertices we want to find avg on
-
-    Returns:
-        idx (int): index of the furthest point
+    """Return the index of the vertex furthest away along a direction in the list of vertices
+
+    Parameters
+    ----------
+    vertices : np.ndarray
+        the vertices we want to find index on
+    d : np.ndarray
+        direction
+
+    Returns
+    -------
+    int
+        index of the furthest point
     """
     return np.argmax(vertices.dot(d))
 
 
 @njit(cache=True)
 def support(vertices1, vertices2, d):
-    """
-    Minkowski sum support function for GJK
-
-    Args:
-        vertices1 (np.ndarray, (n, 2)): vertices of the first body
-        vertices2 (np.ndarray, (n, 2)): vertices of the second body
-        d (np.ndarray, (2, )): direction to find the support along
-
-    Returns:
-        support (np.ndarray, (n, 2)): Minkowski sum
+    """Minkowski sum support function for GJK
+
+    Parameters
+    ----------
+    vertices1 : np.ndarray
+        vertices of the first body
+    vertices2 : np.ndarray
+        vertices of the second body
+    d : np.ndarray
+        direction to find the support along
+
+    Returns
+    -------
+    np.ndarray
+        Minkowski sum
     """
     i = indexOfFurthestPoint(vertices1, d)
     j = indexOfFurthestPoint(vertices2, -d)
@@ -83,15 +106,19 @@ def support(vertices1, vertices2, d):
 
 @njit(cache=True)
 def collision(vertices1, vertices2):
-    """
-    GJK test to see whether two bodies overlap
-
-    Args:
-        vertices1 (np.ndarray, (n, 2)): vertices of the first body
-        vertices2 (np.ndarray, (n, 2)): vertices of the second body
-
-    Returns:
-        overlap (boolean): True if two bodies collide
+    """GJK test to see whether two bodies overlap
+
+    Parameters
+    ----------
+    vertices1 : np.ndarray
+        vertices of the first body
+    vertices2 : np.ndarray
+        vertices of the second body
+
+    Returns
+    -------
+    boolean
+        True if two bodies collide
     """
     index = 0
     simplex = np.empty((3, 2))
@@ -155,15 +182,19 @@ def collision(vertices1, vertices2):
 
 @njit(cache=True)
 def collision_multiple(vertices):
-    """
-    Check pair-wise collisions for all provided vertices
-
-    Args:
-        vertices (np.ndarray (num_bodies, 4, 2)): all vertices for checking pair-wise collision
-
-    Returns:
-        collisions (np.ndarray (num_vertices, )): whether each body is in collision
-        collision_idx (np.ndarray (num_vertices, )): which index of other body is each index's body is in collision, -1 if not in collision
+    """Check pair-wise collisions for all provided vertices
+
+    Parameters
+    ----------
+    vertices : np.ndarray
+        all vertices for checking pair-wise collision
+
+    Returns
+    -------
+    collisions : np.ndarray
+        whether each body is in collision
+    collision_idx : np.ndarray
+        which index of other body is each index's body is in collision, -1 if not in collision
     """
     collisions = np.zeros((vertices.shape[0],))
     collision_idx = -1 * np.ones((vertices.shape[0],))
@@ -184,21 +215,19 @@ def collision_multiple(vertices):
     return collisions, collision_idx
 
 
-"""
-Utility functions for getting vertices by pose and shape
-"""
-
-
 @njit(cache=True)
 def get_trmtx(pose):
-    """
-    Get transformation matrix of vehicle frame -> global frame
+    """Get transformation matrix of vehicle frame -> global frame
 
-    Args:
-        pose (np.ndarray (3, )): current pose of the vehicle
+    Parameters
+    ----------
+    pose : np.ndarray
+        current pose of the vehicle
 
-    return:
-        H (np.ndarray (4, 4)): transformation matrix
+    Returns
+    -------
+    np.ndarray
+        transformation matrix
     """
     x = pose[0]
     y = pose[1]
@@ -218,16 +247,21 @@ def get_trmtx(pose):
 
 @njit(cache=True)
 def get_vertices(pose, length, width):
-    """
-    Utility function to return vertices of the car body given pose and size
-
-    Args:
-        pose (np.ndarray, (3, )): current world coordinate pose of the vehicle
-        length (float): car length
-        width (float): car width
-
-    Returns:
-        vertices (np.ndarray, (4, 2)): corner vertices of the vehicle body
+    """Utility function to return vertices of the car body given pose and size
+
+    Parameters
+    ----------
+    pose : np.ndarray
+        current world coordinate pose of the vehicle
+    length : float
+        car length
+    width : float
+        car width
+
+    Returns
+    -------
+    np.ndarray
+        corner vertices of the vehicle body
     """
     H = get_trmtx(pose)
     rl = H.dot(np.asarray([[-length / 2], [width / 2], [0.0], [1.0]])).flatten()