Refactor for readability and consistency

data/filter_data.py

 import pickle
 
 import numpy as np
-from numpy.lib.function_base import diff
 import matplotlib.pyplot as plt
 
 # Constants for Stanley controller for GEM
@@ -26,7 +25,7 @@ def f(x, y, theta, steer):
 
 
 def v(x, y, theta) -> float:
-    return y**2 + theta**2
+    return np.linalg.norm([y, theta], ord=2)
 
 
 def in_circle(x, y, theta, d, phi) -> bool:
@@ -36,8 +35,8 @@ def in_circle(x, y, theta, d, phi) -> bool:
     state_vec = np.array([x, y, theta])
     perc_vec = np.array([d, phi])
 
-    diff_vec = perc_vec - (np.dot(state_vec, a_mat.T) + b_vec)
-    return np.dot(diff_vec, diff_vec) <= 0.03
+    diff_vec = perc_vec - (a_mat @ state_vec + b_vec)
+    return np.linalg.norm(diff_vec, ord=2) <= np.sqrt(0.03)
 
 
 def pred(sample) -> bool:
@@ -61,7 +60,7 @@ for truth, samples in truth_samples_seq:
     filtered_samples = [s for s in samples if pred(s)]
     if abs(len(samples) - len(filtered_samples)) < 200 and \
             abs(cte - 0.967823751) <= 0.001 and abs(phi - -0.211146388) <= 0.001:
-        print("#Original:", len(samples), "#Filtered:",  len(filtered_samples))
+        print("#Original:", len(samples), "#Filtered:", len(filtered_samples))
         filtered_truth_samples.append((truth, filtered_samples))
     else:
         # print("Skip partition. #Original:", len(samples), "#Filtered:",  len(filtered_samples))