Merge branch 'main' into hpo_fed

Author: Federico-PizarroBejarano

.pre-commit-config.yaml

@@ -49,7 +49,7 @@ repos:
     hooks:
     -   id: flake8
         name: flake8_default
-        args: ['--ignore=E501,W503,W504']
+        args: ['--ignore=E501']
         exclude: (^safe_control_gym/__init__.py|^tests/|^safe_control_gym/math_and_models/transformations.py)
     -   id: flake8
         name: flake8_tests

safe_control_gym/controllers/mpc/gp_mpc.py

@@ -30,10 +30,10 @@
 from sklearn.model_selection import train_test_split
 from skopt.sampler import Lhs
 
+from safe_control_gym.controllers.lqr.lqr_utils import discretize_linear_system
 from safe_control_gym.controllers.mpc.gp_utils import (GaussianProcessCollection, ZeroMeanIndependentGPModel,
                                                        covMatern52ard, covSEard, kmeans_centriods)
 from safe_control_gym.controllers.mpc.linear_mpc import MPC, LinearMPC
-from safe_control_gym.controllers.mpc.mpc_utils import discretize_linear_system
 from safe_control_gym.envs.benchmark_env import Task
 
 

safe_control_gym/safety_filters/cbf/cbf_nn.py

@@ -121,8 +121,7 @@ def setup_optimizer(self):
             cost = 0.5 * cs.norm_2(uncertified_action_var - u_var) ** 2
 
         # CBF constraint
-        opti.subject_to(-self.linear_func(x=barrier_at_x)['y'] - lie_derivative_at_x - learned_residual
-                        <= right_hand_side)
+        opti.subject_to(-self.linear_func(x=barrier_at_x)['y'] - lie_derivative_at_x - learned_residual <= right_hand_side)
 
         # Input constraints
         for input_constraint in self.input_constraints_sym: