20172884498

Committed 12 Dec 2025 04:18PM UTC coverage: 74.672% (+1.2%) from 73.457%

Build # 20172884498

Build Type

push

github

Committed by

web-flow

Commit Message

(v0.1.2) Path Metrics & Transformations, Python >=3.8 Support

Run Details

269 of 364 new or added lines in 8 files covered. (73.9%)

6 existing lines in 4 files now uncovered.

1082 of 1449 relevant lines covered (74.67%)

0.75 hits per line

Source File
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86.67

/src/robotdataprocess/data_types/Data.py

from __future__ import annotations

from ..conversion_utils import col_to_dec_arr
from decimal import Decimal
from enum import Enum
import numpy as np
from typeguard import typechecked

class CoordinateFrame(Enum):
    """ 
    Enum for different coordinate frames used in robotics. 
    
    Attributes:
        FLU: X forward, Y left, Z up := RHS
        NED: X forward (north), Y right (east), Z down := RHS
        ENU: X right (east), Y forward (north), Z up := RHS
        NONE: No defined coordinate frame.
    """

    FLU = 0
    NED = 1
    ENU = 2
    NONE = 3


class Data:
    """
    Generic Data class that provides example methods that should be overwritten by children,
    and can run operations between different data types.
    """

    # Define data attributes for all Data classes
    frame_id: str
    timestamps: np.ndarray[Decimal]

    @typechecked
    def __init__(self, frame_id: str, timestamps: np.ndarray | list, ):
        
        # Copy initial values into attributes
        self.frame_id = frame_id
        self.timestamps = col_to_dec_arr(timestamps)

        # Check to ensure that all timestamps are sequential
        for i in range(len(self.timestamps) - 1):
            if self.timestamps[i] >= self.timestamps[i+1]:
                raise ValueError(f"Timestamps {self.timestamps[i]} and {self.timestamps[i+1]} do not come in sequential order!")
            
    def len(self):
        """ Returns the number of items in this data class """
        return len(self.timestamps)
    
    @staticmethod
    def get_ros_msg_type():
        """ Will return the msgtype needed to add a connetion to a rosbag writer. """
        raise NotImplementedError("This method needs to be overwritten by the child Data class!")
    
    def get_ros_msg(self, i: int):
        """ Will return a ROS message object ready to be written into a ROS2 Humble bag. """
        raise NotImplementedError("This method needs to be overwritten by the child Data class!")
    
    def crop_data(self, start: Decimal, end: Decimal):
        """ Will crop the data so only values within [start, end] inclusive are kept. """
        raise NotImplementedError("This method needs to be overwritten by the child Data class!")


1	from __future__ import annotations	1✔
2
3	from ..conversion_utils import col_to_dec_arr	1✔
4	from decimal import Decimal	1✔
5	from enum import Enum	1✔
6	import numpy as np	1✔
7	from typeguard import typechecked	1✔
8
9	class CoordinateFrame(Enum):	1✔
10	"""
11	Enum for different coordinate frames used in robotics.
12
13	Attributes:
14	FLU: X forward, Y left, Z up := RHS
15	NED: X forward (north), Y right (east), Z down := RHS
16	ENU: X right (east), Y forward (north), Z up := RHS
17	NONE: No defined coordinate frame.
18	"""
19
20	FLU = 0	1✔
21	NED = 1	1✔
22	ENU = 2	1✔
23	NONE = 3	1✔
24
25
26	class Data:	1✔
27	"""
28	Generic Data class that provides example methods that should be overwritten by children,
29	and can run operations between different data types.
30	"""
31
32	# Define data attributes for all Data classes
33	frame_id: str	1✔
34	timestamps: np.ndarray[Decimal]	1✔
35
36	@typechecked	1✔
37	def __init__(self, frame_id: str, timestamps: np.ndarray \| list, ):	1✔
38
39	# Copy initial values into attributes
40	self.frame_id = frame_id	1✔
41	self.timestamps = col_to_dec_arr(timestamps)	1✔
42
43	# Check to ensure that all timestamps are sequential
44	for i in range(len(self.timestamps) - 1):	1✔
45	if self.timestamps[i] >= self.timestamps[i+1]:	1✔
UNCOV 46	raise ValueError(f"Timestamps {self.timestamps[i]} and {self.timestamps[i+1]} do not come in sequential order!")	×
47
48	def len(self):	1✔
49	""" Returns the number of items in this data class """
50	return len(self.timestamps)	1✔
51
52	@staticmethod	1✔
53	def get_ros_msg_type():	1✔
54	""" Will return the msgtype needed to add a connetion to a rosbag writer. """
55	raise NotImplementedError("This method needs to be overwritten by the child Data class!")	×
56
57	def get_ros_msg(self, i: int):	1✔
58	""" Will return a ROS message object ready to be written into a ROS2 Humble bag. """
59	raise NotImplementedError("This method needs to be overwritten by the child Data class!")	×
60
61	def crop_data(self, start: Decimal, end: Decimal):	1✔
62	""" Will crop the data so only values within [start, end] inclusive are kept. """
NEW 63	raise NotImplementedError("This method needs to be overwritten by the child Data class!")	×
64

lunarlab-gatech / robotdataprocess / 20172884498

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