From 59dcd907c9b8f6188bdb8ed56376dfbf831eb352 Mon Sep 17 00:00:00 2001
From: Andrew Shum <84476051+ashum68@users.noreply.github.com>
Date: Wed, 12 Jun 2024 11:03:57 -0400
Subject: [PATCH] removed LidarDetection from detection_and_odometry (#11)

---
 modules/detection_and_odometry.py | 51 ++++---------------------------
 1 file changed, 6 insertions(+), 45 deletions(-)

diff --git a/modules/detection_and_odometry.py b/modules/detection_and_odometry.py
index fe685cc..29c6af8 100644
--- a/modules/detection_and_odometry.py
+++ b/modules/detection_and_odometry.py
@@ -3,46 +3,7 @@
 """
 
 from . import drone_odometry_local
-
-
-class LidarDetection:
-    """
-    Lidar scan
-    """
-
-    __create_key = object()
-
-    __DISTANCE_LIMIT = 50
-    __ANGLE_LIMIT = 160
-
-    @classmethod
-    def create(cls, distance: float, angle: float) -> "tuple[bool, LidarDetection | None]":
-        """
-        Distance is in meters.
-        Angle is in degrees.
-        """
-        if distance < 0 or distance > cls.__DISTANCE_LIMIT:
-            return False, None
-
-        if abs(angle) > cls.__ANGLE_LIMIT:
-            return False, None
-
-        return True, LidarDetection(cls.__create_key, distance, angle)
-
-    def __init__(self, create_key: object, distance: float, angle: float) -> None:
-        """
-        Private constructor, use create() method.
-        """
-        assert create_key is LidarDetection.__create_key, "Use create() method"
-
-        self.distance = distance
-        self.angle = angle
-
-    def __str__(self) -> str:
-        """
-        String representation
-        """
-        return f"Distance: {self.distance}, Angle: {self.angle}. "
+from . import lidar_detection
 
 
 class DetectionAndOdometry:
@@ -55,25 +16,25 @@ class DetectionAndOdometry:
     @classmethod
     def create(
         cls,
-        lidar_detection: LidarDetection,
+        detection: lidar_detection.LidarDetection,
         local_odometry: drone_odometry_local.DroneOdometryLocal,
     ) -> "tuple[bool, DetectionAndOdometry | None]":
         """
         Combines lidar reading with local odometry
         """
 
-        if lidar_detection is None:
+        if detection is None:
             return False, None
 
         if local_odometry is None:
             return False, None
 
-        return True, DetectionAndOdometry(cls.__create_key, lidar_detection, local_odometry)
+        return True, DetectionAndOdometry(cls.__create_key, detection, local_odometry)
 
     def __init__(
         self,
         create_key: object,
-        lidar_detection: LidarDetection,
+        detection: lidar_detection.LidarDetection,
         local_odometry: drone_odometry_local.DroneOdometryLocal,
     ) -> None:
         """
@@ -81,7 +42,7 @@ def __init__(
         """
         assert create_key is DetectionAndOdometry.__create_key, "Use create() method"
 
-        self.detection = lidar_detection
+        self.detection = detection
         self.odometry = local_odometry
 
     def __str__(self) -> str: