Merge pull request #55 from NavAbility/minifix/doc_changes

Fixing tests

Author: GearsAD

setup.py

@@ -33,7 +33,7 @@
         "marshmallow==3.14.0",
         "numpy>=1.21",
         # Dev/test dependencies
-        "black==21.9b0",
+        "black>=22.3.0",  # REF: https://github.com/psf/black/issues/2634
         "flake8==4.0.1",
         "pytest==6.2.5",
         "pytest-asyncio==0.18.1",

src/navability/entities/__init__.py

@@ -16,6 +16,7 @@
     Point2Point2Range,
     Pose2AprilTag4Corners,
     Pose2Point2BearingRange,
+    Pose2Point2Range,
     Pose2Pose2,
     Prior,
     PriorPoint2,

src/navability/entities/factor/inferencetypes.py

@@ -163,6 +163,28 @@ def dumps(self):
     # TODO: Deserializing this.
 
 
+"""
+Create a Pose2->Point2 range factor with a 1D distribution:
+- range: The range from the pose to the point.
+"""
+
+
+@dataclass
+class Pose2Point2Range(InferenceType):
+    Z: Distribution
+
+    def __repr__(self):
+        return f"<{self.__class__.__name__}(Z={str(self.Z)})>"
+
+    def dump(self):
+        return ZSchema().dump(self)
+
+    def dumps(self):
+        return ZSchema().dumps(self)
+
+    # TODO: Deserializing this.
+
+
 """
 Create a Pose2->Point2 bearing+range factor with 1D distributions:
 - bearing: The bearing from the pose to the point.

tests/conftest.py

@@ -17,8 +17,8 @@
     NavAbilityHttpsClient,
     NavAbilityWebsocketClient,
     Normal,
-    Point2Point2Range,
     Pose2Point2BearingRange,
+    Pose2Point2Range,
     Pose2Pose2,
     Prior,
     PriorPoint2,
@@ -204,9 +204,9 @@ async def example_2d_graph(
         ),
         Factor(
             "x0l0f1",
-            "Point2Point2Range",
+            "Pose2Point2Range",
             ["x0", "l0"],
-            FactorData(fnc=Point2Point2Range(Normal(5, 0.1)).dump()),  # Range
+            FactorData(fnc=Pose2Point2Range(Normal(5, 0.1)).dump()),  # Range
         ),
         Factor(
             "x0l0f2",

tests/test_inference_types_serialization.py

@@ -9,6 +9,7 @@
     Point2Point2Range,
     Pose2AprilTag4Corners,
     Pose2Point2BearingRange,
+    Pose2Point2Range,
     Pose2Pose2,
     Prior,
     PriorPoint2,
@@ -101,6 +102,16 @@ def test_point2point2range():
     pass
 
 
+def test_pose2point2range():
+    pose = Pose2Point2Range(Normal(89.44271909999159, 3))
+    dumped = pose.dumps()
+    assert (
+        dumped
+        == '{"Z": {"_type": "IncrementalInference.PackedNormal", "mu": 89.44271909999159, "sigma": 3.0}}'  # noqa: E501, B950
+    )
+    pass
+
+
 def test_pose2point2bearingrange():
     pose = Pose2Point2BearingRange(Normal(0, 0.03), Normal(0.5, 0.1))
     dumped = pose.dumps()