Move Point and Velocity classes to separate files #16

flight/avoidance/obstacle_avoidance.py

@@ -4,134 +4,12 @@
 
 # pylint: disable=fixme
 
-from dataclasses import dataclass
-
 import mavsdk
 import mavsdk.telemetry
 import numpy as np
-import utm
-
-# Input points are dicts with time and UTM coordinate data
-# May change in the future
-InputPoint = dict[str, float | int | str]
-
-
-# TODO: Maybe move to a different file in this directory
-@dataclass
-class Point:
-    """
-    A point in 3D space
-
-    Attributes
-    ----------
-    utm_x : float
-        The x-coordinate of this point, in meters, in UTM coordinates
-    utm_y : float
-        The y-coordinate of this point, in meters, in UTM coordinates
-    utm_zone_number : int
-        The UTM zone this point is in
-    utm_zone_letter : str
-        The letter of the UTM latitude band
-    altitude : float
-        The altitude of the point above sea level, in meters
-    time : float | None
-        The time at which an object was at this point, in Unix time
-    """
-
-    utm_x: float
-    utm_y: float
-    utm_zone_number: int
-    utm_zone_letter: str
-    altitude: float
-    time: float | None
-
-    @classmethod
-    def from_dict(cls, position_data: InputPoint) -> "Point":
-        """
-        Factory method accepting a dict with position data
-
-        Parameters
-        ----------
-        position_data : dict[str, Union[float, int, str]]
-            A dict containing at least the following keys:
-            'utm_x', 'utm_y', 'utm_zone_number', 'utm_zone_letter'
-
-        Returns
-        -------
-        A new Point object
-        """
-
-        return cls(
-            float(position_data["utm_x"]),
-            float(position_data["utm_y"]),
-            int(position_data["utm_zone_number"]),
-            str(position_data["utm_zone_letter"]),
-            float(position_data["altitude"]),  # TODO: Change key to actual key in data input
-            float(position_data["time"]),
-        )
-
-    @classmethod
-    def from_mavsdk_position(cls, position: mavsdk.telemetry.Position) -> "Point":
-        """
-        Factory method accepting a mavsdk.telemetry.Position object
-
-        Parameters
-        ----------
-        position : mavsdk.telemetry.Position
-            A position from MAVSDK
-
-        Returns
-        -------
-        A new Point object
-        """
-
-        easting: float
-        northing: float
-        zone_number: int
-        zone_letter: str
-        easting, northing, zone_number, zone_letter = utm.from_latlon(
-            position.latitude_deg, position.longitude_deg
-        )
-
-        # Can't directly unpack function return value because mypy complains
-        return cls(easting, northing, zone_number, zone_letter, position.absolute_altitude_m, None)
-
-
-@dataclass
-class Velocity:
-    """
-    A velocity in 3D space
-
-    Attributes
-    ----------
-    north_vel : float
-        Eastward velocity in meters per second
-    east_vel : float
-        Northward velocity in meters per second
-    down_vel : float
-        Downward velocity in meters per second
-    """
-
-    north_vel: float
-    east_vel: float
-    down_vel: float
-
-    @classmethod
-    def from_mavsdk_velocityned(cls, velocity: mavsdk.telemetry.VelocityNed) -> "Velocity":
-        """
-        Factory method accepting a mavsdk.telemetry.VelocityNed object
-
-        Parameters
-        ----------
-        velocity : mavsdk.telemetry.VelocityNed
-            A velocity (NED) from MAVSDK
-
-        Returns
-        -------
-        A new Velocity object
-        """
 
-        return cls(velocity.north_m_s, velocity.east_m_s, velocity.down_m_s)
+from point import Point, InputPoint
+from velocity import Velocity
 
 
 async def calculate_avoidance_path(

flight/avoidance/point.py

@@ -0,0 +1,93 @@
+"""
+Defines and implements the Point class used in obstacle_avoidance.py
+"""
+
+from dataclasses import dataclass
+
+import mavsdk.telemetry
+
+import utm
+
+# Input points are dicts with time and UTM coordinate data
+# May change in the future
+InputPoint = dict[str, float | int | str]
+
+
+@dataclass
+class Point:
+    """
+    A point in 3D space
+
+    Attributes
+    ----------
+    utm_x : float
+        The x-coordinate of this point, in meters, in UTM coordinates
+    utm_y : float
+        The y-coordinate of this point, in meters, in UTM coordinates
+    utm_zone_number : int
+        The UTM zone this point is in
+    utm_zone_letter : str
+        The letter of the UTM latitude band
+    altitude : float
+        The altitude of the point above sea level, in meters
+    time : float | None
+        The time at which an object was at this point, in Unix time
+    """
+
+    utm_x: float
+    utm_y: float
+    utm_zone_number: int
+    utm_zone_letter: str
+    altitude: float
+    time: float | None
+
+    @classmethod
+    def from_dict(cls, position_data: InputPoint) -> "Point":
+        """
+        Factory method accepting a dict with position data
+
+        Parameters
+        ----------
+        position_data : dict[str, Union[float, int, str]]
+            A dict containing at least the following keys:
+            'utm_x', 'utm_y', 'utm_zone_number', 'utm_zone_letter'
+
+        Returns
+        -------
+        A new Point object
+        """
+
+        return cls(
+            float(position_data["utm_x"]),
+            float(position_data["utm_y"]),
+            int(position_data["utm_zone_number"]),
+            str(position_data["utm_zone_letter"]),
+            float(position_data["altitude"]),
+            float(position_data["time"]),
+        )
+
+    @classmethod
+    def from_mavsdk_position(cls, position: mavsdk.telemetry.Position) -> "Point":
+        """
+        Factory method accepting a mavsdk.telemetry.Position object
+
+        Parameters
+        ----------
+        position : mavsdk.telemetry.Position
+            A position from MAVSDK
+
+        Returns
+        -------
+        A new Point object
+        """
+
+        easting: float
+        northing: float
+        zone_number: int
+        zone_letter: str
+        easting, northing, zone_number, zone_letter = utm.from_latlon(
+            position.latitude_deg, position.longitude_deg
+        )
+
+        # Can't directly unpack function return value because mypy complains
+        return cls(easting, northing, zone_number, zone_letter, position.absolute_altitude_m, None)

flight/avoidance/velocity.py

@@ -0,0 +1,44 @@
+"""
+Defines and implements the Velocity class used in obstacle_avoidance.py
+"""
+
+from dataclasses import dataclass
+
+import mavsdk.telemetry
+
+
+@dataclass
+class Velocity:
+    """
+    A velocity in 3D space
+
+    Attributes
+    ----------
+    north_vel : float
+        Eastward velocity in meters per second
+    east_vel : float
+        Northward velocity in meters per second
+    down_vel : float
+        Downward velocity in meters per second
+    """
+
+    north_vel: float
+    east_vel: float
+    down_vel: float
+
+    @classmethod
+    def from_mavsdk_velocityned(cls, velocity: mavsdk.telemetry.VelocityNed) -> "Velocity":
+        """
+        Factory method accepting a mavsdk.telemetry.VelocityNed object
+
+        Parameters
+        ----------
+        velocity : mavsdk.telemetry.VelocityNed
+            A velocity (NED) from MAVSDK
+
+        Returns
+        -------
+        A new Velocity object
+        """
+
+        return cls(velocity.north_m_s, velocity.east_m_s, velocity.down_m_s)