namechange

Author: Andeshog

tests/test_utils.py

@@ -32,11 +32,11 @@ def test_quat_to_euler():
     assert euler == pytest.approx([1, -1, 0], abs=0.01)
 
 def test_pose():
-    pose = Pose(1, 2, 3, 0.1, 0.2, 0.3)
-    pose2 = Pose(0.1, 0.2, 0.3, 0.1, 0.2, 0.3)
-    assert (pose + pose2) == Pose(1.1, 2.2, 3.3, 0.2, 0.4, 0.6)
-    assert (pose - pose2) == Pose(0.9, 1.8, 2.7, 0, 0, 0)
-    assert (pose * 2) == Pose(2, 4, 6, 0.2, 0.4, 0.6)
+    pose = PoseData(1, 2, 3, 0.1, 0.2, 0.3)
+    pose2 = PoseData(0.1, 0.2, 0.3, 0.1, 0.2, 0.3)
+    assert (pose + pose2) == PoseData(1.1, 2.2, 3.3, 0.2, 0.4, 0.6)
+    assert (pose - pose2) == PoseData(0.9, 1.8, 2.7, 0, 0, 0)
+    assert (pose * 2) == PoseData(2, 4, 6, 0.2, 0.4, 0.6)
     pose3 = pose * pose2
     assert pose3.x == pytest.approx(0.1, abs=0.01)
     assert pose3.y == pytest.approx(0.4, abs=0.01)
@@ -57,27 +57,27 @@ def test_pose():
     assert rotation_matrix[2, 1] == pytest.approx(0.127, abs=0.05)
     assert rotation_matrix[2, 2] == pytest.approx(0.975, abs=0.05)
 
-    pose = Pose(1, 2, 3, 0.5, -0.5, 0.9)
+    pose = PoseData(1, 2, 3, 0.5, -0.5, 0.9)
     rotation_matrix = pose.as_rotation_matrix()
     assert rotation_matrix[0] == pytest.approx([ 0.54551407, -0.68743404, -0.47942554], abs=0.001)
     assert rotation_matrix[1] == pytest.approx([ 0.5445577,   0.72556086, -0.42073549], abs=0.001)
     assert rotation_matrix[2] == pytest.approx([ 0.6370803,  -0.03155774,  0.77015115], abs=0.001)
 
 def test_twist():
-    twist1 = Twist(1, 2, 3, 0.1, 0.2, 0.3)
-    twist2 = Twist(0.1, 0.2, 0.3, 0.1, 0.2, 0.3)
-    assert (twist1 + twist2) == Twist(1.1, 2.2, 3.3, 0.2, 0.4, 0.6)
-    assert (twist1 - twist2) == Twist(0.9, 1.8, 2.7, 0, 0, 0)
-    assert (twist1 * 2) == Twist(2, 4, 6, 0.2, 0.4, 0.6)
+    twist1 = TwistData(1, 2, 3, 0.1, 0.2, 0.3)
+    twist2 = TwistData(0.1, 0.2, 0.3, 0.1, 0.2, 0.3)
+    assert (twist1 + twist2) == TwistData(1.1, 2.2, 3.3, 0.2, 0.4, 0.6)
+    assert (twist1 - twist2) == TwistData(0.9, 1.8, 2.7, 0, 0, 0)
+    assert (twist1 * 2) == TwistData(2, 4, 6, 0.2, 0.4, 0.6)
 
 def test_state():
-    pose1 = Pose(1, 2, 3, 0.1, 0.2, 0.3)
-    twist1 = Twist(1, 2, 3, 0.1, 0.2, 0.3)
+    pose1 = PoseData(1, 2, 3, 0.1, 0.2, 0.3)
+    twist1 = TwistData(1, 2, 3, 0.1, 0.2, 0.3)
     state1 = State(pose1, twist1)
-    pose2 = Pose(0.1, 0.2, 0.3, 0.1, 0.2, 0.3)
-    twist2 = Twist(0.1, 0.2, 0.3, 0.1, 0.2, 0.3)
+    pose2 = PoseData(0.1, 0.2, 0.3, 0.1, 0.2, 0.3)
+    twist2 = TwistData(0.1, 0.2, 0.3, 0.1, 0.2, 0.3)
     state2 = State(pose2, twist2)
-    assert (state1 + state2).pose == Pose(1.1, 2.2, 3.3, 0.2, 0.4, 0.6)
-    assert (state1 - state2).pose == Pose(0.9, 1.8, 2.7, 0, 0, 0)
-    assert (state1 + state2).twist == Twist(1.1, 2.2, 3.3, 0.2, 0.4, 0.6)
-    assert (state1 - state2).twist == Twist(0.9, 1.8, 2.7, 0, 0, 0)
+    assert (state1 + state2).pose == PoseData(1.1, 2.2, 3.3, 0.2, 0.4, 0.6)
+    assert (state1 - state2).pose == PoseData(0.9, 1.8, 2.7, 0, 0, 0)
+    assert (state1 + state2).twist == TwistData(1.1, 2.2, 3.3, 0.2, 0.4, 0.6)
+    assert (state1 - state2).twist == TwistData(0.9, 1.8, 2.7, 0, 0, 0)

vortex_utils/python_utils.py

@@ -22,24 +22,24 @@ def quat_to_euler(x: float, y: float, z: float, w: float) -> np.ndarray:
     return euler_angles
 
 @dataclass(slots=True)
-class Pose:
+class PoseData:
     x: float = 0.0
     y: float = 0.0
     z: float = 0.0
     roll: float = 0.0
     pitch: float = 0.0
     yaw: float = 0.0
 
-    def __add__(self, other: "Pose") -> "Pose":
-        return Pose(**{field.name: getattr(self, field.name) + getattr(other, field.name) for field in self.__dataclass_fields__.values()})
+    def __add__(self, other: "PoseData") -> "PoseData":
+        return PoseData(**{field.name: getattr(self, field.name) + getattr(other, field.name) for field in self.__dataclass_fields__.values()})
 
-    def __sub__(self, other: "Pose") -> "Pose":
-        return Pose(**{field.name: getattr(self, field.name) - getattr(other, field.name) for field in self.__dataclass_fields__.values()})
+    def __sub__(self, other: "PoseData") -> "PoseData":
+        return PoseData(**{field.name: getattr(self, field.name) - getattr(other, field.name) for field in self.__dataclass_fields__.values()})
 
-    def __mul__(self, other: float) -> "Pose":
-        if isinstance(other, Pose):
-            return Pose(**{field.name: getattr(self, field.name) * getattr(other, field.name) for field in self.__dataclass_fields__.values()})
-        return Pose(**{field.name: getattr(self, field.name) * other for field in self.__dataclass_fields__.values()})
+    def __mul__(self, other: float) -> "PoseData":
+        if isinstance(other, PoseData):
+            return PoseData(**{field.name: getattr(self, field.name) * getattr(other, field.name) for field in self.__dataclass_fields__.values()})
+        return PoseData(**{field.name: getattr(self, field.name) * other for field in self.__dataclass_fields__.values()})
 
     def as_rotation_matrix(self) -> np.ndarray:
         euler_angles = [self.roll, self.pitch, self.yaw]
@@ -48,29 +48,29 @@ def as_rotation_matrix(self) -> np.ndarray:
         return rotation_matrix
 
 @dataclass(slots=True)
-class Twist:
+class TwistData:
     linear_x: float = 0.0
     linear_y: float = 0.0
     linear_z: float = 0.0
     angular_x: float = 0.0
     angular_y: float = 0.0
     angular_z: float = 0.0
 
-    def __add__(self, other: "Twist") -> "Twist":
-        return Twist(**{field.name: getattr(self, field.name) + getattr(other, field.name) for field in self.__dataclass_fields__.values()})
+    def __add__(self, other: "TwistData") -> "TwistData":
+        return TwistData(**{field.name: getattr(self, field.name) + getattr(other, field.name) for field in self.__dataclass_fields__.values()})
 
-    def __sub__(self, other: "Twist") -> "Twist":
-        return Twist(**{field.name: getattr(self, field.name) - getattr(other, field.name) for field in self.__dataclass_fields__.values()})
+    def __sub__(self, other: "TwistData") -> "TwistData":
+        return TwistData(**{field.name: getattr(self, field.name) - getattr(other, field.name) for field in self.__dataclass_fields__.values()})
 
-    def __mul__(self, other: float) -> "Twist":
-        if isinstance(other, Twist): 
-            return Twist(**{field.name: getattr(self, field.name) * getattr(other, field.name) for field in self.__dataclass_fields__.values()})
-        return Twist(**{field.name: getattr(self, field.name) * other for field in self.__dataclass_fields__.values()})
+    def __mul__(self, other: float) -> "TwistData":
+        if isinstance(other, TwistData): 
+            return TwistData(**{field.name: getattr(self, field.name) * getattr(other, field.name) for field in self.__dataclass_fields__.values()})
+        return TwistData(**{field.name: getattr(self, field.name) * other for field in self.__dataclass_fields__.values()})
 
 @dataclass(slots=True)
 class State:
-    pose: Pose
-    twist: Twist
+    pose: PoseData
+    twist: TwistData
 
     def __add__(self, other: "State") -> "State":
         return State(pose=self.pose + other.pose, twist=self.twist + other.twist)