created data structure to hold local odometry data

modules/drone_odometry_local.py

@@ -0,0 +1,96 @@
+"""
+Data structure for local odometry data (local position, orientation, and timestamp)
+"""
+
+import time
+
+from .common.mavlink.modules import drone_odometry
+
+
+class DronePositionLocal:
+    """
+    Drone position using NED.
+    """
+
+    __create_key = object()
+
+    @classmethod
+    def create(
+        cls, north: float, east: float, down: float
+    ) -> "tuple[bool, DronePositionLocal | None]":
+        """
+        Local position (NED)
+        """
+        return True, DronePositionLocal(cls.__create_key, north, east, down)
+
+    def __init__(self, create_key: object, north: float, east: float, down: float) -> None:
+        """
+        Private constructor, use create() method.
+        """
+
+        assert create_key is DronePositionLocal.__create_key, "Use create() method"
+
+        self.north = north
+        self.east = east
+        self.down = down
+
+    def __str__(self) -> str:
+        """
+        String representation
+        """
+        return f"{self.__class__}: North: {self.north}, East: {self.east}, Down: {self.down}."
+
+
+class DroneOdometryLocal:
+    """
+    Data structure combining drone's local position, local orientation
+    and timestamp.
+    """
+
+    __create_key = object()
+
+    @classmethod
+    def create(
+        cls, local_position: DronePositionLocal, drone_orientation: drone_odometry.DroneOrientation
+    ) -> "tuple[bool, DroneOdometryLocal | None]":
+        """
+        Combines local odometry data with timestamp
+        """
+
+        if local_position is None:
+            return False, None
+
+        if drone_orientation is None:
+            return False, None
+
+        timestamp = time.time()
+
+        return True, DroneOdometryLocal(
+            cls.__create_key, local_position, drone_orientation, timestamp
+        )
+
+    def __init__(
+        self,
+        create_key: object,
+        local_position: DronePositionLocal,
+        drone_orientation: drone_odometry.DroneOrientation,
+        timestamp: float,
+    ) -> None:
+        """
+        Private constructor, use create() method.
+        """
+
+        assert create_key is DroneOdometryLocal.__create_key, "Use create() method"
+
+        self.local_position = local_position
+        self.drone_orientation = drone_orientation
+        self.timestamp = timestamp
+
+    def __str__(self) -> str:
+        """
+        String representation
+        """
+        return f"{self.__class__},\
+            {self.local_position}, \
+                DroneOrientation: Roll: {self.drone_orientation.roll}, Pitch: {self.drone_orientation.pitch}, Yaw: {self.drone_orientation.yaw}.\
+                    Time: {self.timestamp}."