created detection and odometry data structure

modules/detection_and_odometry.py

@@ -5,6 +5,38 @@
 from . import drone_odometry_local
 
 
+class LidarDetection:
+    """
+    Lidar scan
+    """
+
+    __create_key = object()
+
+    @classmethod
+    def create(cls, distance: float, angle: float) -> "tuple[bool, LidarDetection | None]":
+        """
+        Distance is in meters.
+        Angle is in degrees.
+        """
+
+        return True, LidarDetection(cls.__create_key, distance, angle)
+
+    def __init__(self, create_key: object, distance: float, angle: float):
+        """
+        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}. "
+
+
 class DetectionAndOdometry:
     """
     Contains LiDAR reading and current local odometry.
@@ -14,33 +46,32 @@ class DetectionAndOdometry:
 
     @classmethod
     def create(
-        cls, distance: float, angle: float, local_odometry: drone_odometry_local.DroneOdometryLocal
+        cls,
+        lidar_detection: LidarDetection,
+        local_odometry: drone_odometry_local.DroneOdometryLocal,
     ) -> "tuple[bool, DetectionAndOdometry | None]":
         """
-        Distance is in metres.
-        Angle is in degrees.
+        Combines lidar reading with local odometry
         """
 
-        return True, DetectionAndOdometry(cls.__create_key, distance, angle, local_odometry)
+        return True, DetectionAndOdometry(cls.__create_key, lidar_detection, local_odometry)
 
     def __init__(
         self,
         create_key: object,
-        distance: float,
-        angle: float,
+        lidar_detection: LidarDetection,
         local_odometry: drone_odometry_local.DroneOdometryLocal,
     ) -> None:
         """
         Private constructor, use create() method.
         """
         assert create_key is DetectionAndOdometry.__create_key, "Use create() method"
 
-        self.distance = distance
-        self.angle = angle
+        self.detection = lidar_detection
         self.odometry = local_odometry
 
     def __str__(self) -> str:
         """
         String representation.
         """
-        return f"{self.__class__}, time: "
+        return f"{self.__class__.__name__}, {self.detection}, str{self.odometry}"