style: update typing

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

Author: ktro2828

t4_devkit/dataclass/box.py

@@ -189,7 +189,7 @@ def translate(self, x: Vector3Like) -> None:
         Args:
             x (Vector3Like): 3D translation vector in the order of (x, y, z).
         """
-        self.position += x
+        self.position += Vector3(x)
 
         if self.future is not None:
             self.future.translate(x)

t4_devkit/dataclass/trajectory.py

@@ -6,7 +6,7 @@
 from attrs import define, field, validators
 
 from t4_devkit.common.converter import to_quaternion
-from t4_devkit.typing import Trajectory
+from t4_devkit.typing import Trajectory, Vector3
 
 if TYPE_CHECKING:
     from t4_devkit.typing import NDArrayFloat, NDArrayInt, RotationLike, Vector3Like
@@ -86,7 +86,7 @@ def translate(self, x: Vector3Like) -> None:
         Args:
             x (Vector3Like): 3D translation vector.
         """
-        self.waypoints += x
+        self.waypoints += Vector3(x)
 
     def rotate(self, q: RotationLike) -> None:
         """Apply a rotation.

t4_devkit/dataclass/transform.py

@@ -8,7 +8,7 @@
 from typing_extensions import Self
 
 from t4_devkit.common.converter import to_quaternion
-from t4_devkit.typing import Matrix3x3, Matrix4x4, NDArray, Quaternion, Vector3
+from t4_devkit.typing import Matrix3x3, Matrix4x4, Quaternion, Vector3
 
 if TYPE_CHECKING:
     from t4_devkit.typing import Matrix4x4Like, RotationLike, Vector3Like
@@ -292,8 +292,7 @@ def rotate(self, *args, **kwargs) -> RotateItemLike:
         if {"position"} == set(inputs.keys()):
             return np.matmul(self.rotation_matrix, inputs["position"])
         elif {"rotation"} == set(inputs.keys()):
-            rotation_matrix: NDArray = inputs["rotation"].rotation_matrix
-            return np.matmul(self.rotation_matrix, rotation_matrix)
+            return np.matmul(self.rotation_matrix, inputs["rotation"].rotation_matrix)
         elif {"matrix"} == set(inputs.keys()):
             matrix: HomogeneousMatrix = deepcopy(inputs["matrix"])
             matrix.rotation = Quaternion(
@@ -413,13 +412,16 @@ def _format_transform_args(*args, **kwargs) -> dict[str, Any]:
             if "matrix" in kwargs:
                 raise KeyError("Cannot specify `position` and `matrix` at the same time.")
             elif "rotation" in kwargs:
-                return {"position": kwargs["position"], "rotation": kwargs["rotation"]}
+                return {
+                    "position": Vector3(kwargs["position"]),
+                    "rotation": to_quaternion(kwargs["rotation"]),
+                }
             else:
-                return {"position": kwargs["position"]}
+                return {"position": Vector3(kwargs["position"])}
         elif "rotation" in kwargs:
             if "matrix" in kwargs:
                 raise KeyError("Cannot specify `rotation` and `matrix` at the same time.")
-            return {"rotation": kwargs["rotation"]}
+            return {"rotation": to_quaternion(kwargs["rotation"])}
         elif "matrix" in kwargs:
             return {"matrix": kwargs["matrix"]}
         else:
@@ -436,15 +438,15 @@ def _format_transform_args(*args, **kwargs) -> dict[str, Any]:
                 arg0 = np.asarray(arg0)
                 if arg0.ndim == 1:
                     if len(arg0) == 3:
-                        return {"position": arg0}
+                        return {"position": Vector3(arg0)}
                     elif len(arg0) == 4:
-                        return {"rotation": arg0}
+                        return {"rotation": to_quaternion(arg0)}
                     else:
                         raise ValueError(f"Unexpected argument shape: {arg0.shape}.")
                 else:
                     if not arg0.shape != (3, 3):
                         raise ValueError(f"Unexpected argument shape: {arg0.shape}.")
-                    return {"rotation": arg0}
+                    return {"rotation": to_quaternion(arg0)}
         elif num_kwargs == 1:
             if "rotation" not in kwargs:
                 raise KeyError("Expected two arguments: position and rotation.")
@@ -453,7 +455,7 @@ def _format_transform_args(*args, **kwargs) -> dict[str, Any]:
             raise ValueError(f"Too much arguments {num_args + num_kwargs}.")
     # >>> (position, rotation)
     elif num_args == 2:
-        return {"position": args[0], "rotation": args[1]}
+        return {"position": Vector3(args[0]), "rotation": to_quaternion(args[1])}
     else:
         raise ValueError(f"Too much arguments {num_args + num_kwargs}.")
 

t4_devkit/viewer/geography.py

@@ -1,34 +1,37 @@
 from __future__ import annotations
 
 import math
+from typing import TYPE_CHECKING
 
 import numpy as np
 
-from t4_devkit.typing import Vector3
+from t4_devkit.typing import Vector2, Vector3
+
+if TYPE_CHECKING:
+    from t4_devkit.typing import Vector2Like, Vector3Like
 
 __all__ = ["calculate_geodetic_point"]
 
 EARTH_RADIUS_METERS = 6.378137e6
 FLATTENING = 1 / 298.257223563
 
 
-def calculate_geodetic_point(position: Vector3, origin: tuple[float, float]) -> tuple[float, float]:
+def calculate_geodetic_point(position: Vector3Like, origin: Vector2Like) -> Vector2:
     """Transform a position in a map coordinate system to a position in a geodetic coordinate system.
 
     Args:
-        position (Vector3): 3D position in a map coordinate system.
-        origin (tuple[float, float]): Map origin position in a geodetic coordinate system,
+        position (Vector3Like): 3D position in a map coordinate system.
+        origin (Vector2Like): Map origin position in a geodetic coordinate system,
             which is (latitude, longitude).
 
     Returns:
-        tuple[float, float]: Transformed position in a geodetic coordinate system,
-            which is (latitude, longitude).
+        Transformed position in a geodetic coordinate system, which is (latitude, longitude).
     """
-    x, y, _ = position
+    x, y, _ = Vector3(position)
     bearing = math.atan2(x, y)
     distance = math.hypot(x, y)
 
-    latitude, longitude = np.radians(origin)
+    latitude, longitude = np.radians(Vector2(origin))
     angular_distance = distance / EARTH_RADIUS_METERS
 
     target_latitude = math.asin(
@@ -40,4 +43,4 @@ def calculate_geodetic_point(position: Vector3, origin: tuple[float, float]) ->
         math.cos(angular_distance) - math.sin(latitude) * math.sin(target_latitude),
     )
 
-    return math.degrees(target_latitude), math.degrees(target_longitude)
+    return Vector2(math.degrees(target_latitude), math.degrees(target_longitude))