Move edge classes to edge_types.py (#73)

* Move edge classes to edge_types.py

* black

tests/edge_types.py

@@ -8,6 +8,7 @@
 import numpy as np
 
 from graphslam.edge.base_edge import BaseEdge
+from graphslam.util import upper_triangular_matrix_to_full_matrix
 
 
 class BaseEdgeForTests(BaseEdge):
@@ -26,6 +27,49 @@ def plot(self, color=""):
         """Not supported, so don't do anything."""
 
 
+class EdgeWithoutToG2OWithoutFromG2O(BaseEdgeForTests):
+    """An edge class without ``to_g2o`` and ``from_g2o`` support.
+
+    This class is only compatible with ``PoseR2`` poses.
+
+    """
+
+    def calc_error(self):
+        """Return an error vector."""
+        return np.array([1.0, 2.0])
+
+
+class EdgeWithToG2OWithoutFromG2O(EdgeWithoutToG2OWithoutFromG2O):
+    """An edge class with a ``to_g2o`` method but not a ``from_g2o`` method."""
+
+    def to_g2o(self):
+        """Write to g2o format."""
+        # fmt: off
+        return "TestEdge {} {} {} ".format(self.vertex_ids[0], self.estimate[0], self.estimate[1]) + " ".join([str(x) for x in self.information[np.triu_indices(2, 0)]]) + "\n"
+        # fmt: on
+
+
+class EdgeWithoutToG2OWithFromG2O(EdgeWithoutToG2OWithoutFromG2O):
+    """An edge class with a ``from_g2o`` method but not a ``to_g2o`` method."""
+
+    @classmethod
+    def from_g2o(cls, line):
+        """Write to g2o format."""
+        if line.startswith("TestEdge "):
+            numbers = line[len("TestEdge "):].split()  # fmt: skip
+            arr = np.array([float(number) for number in numbers[1:]], dtype=np.float64)
+            vertex_ids = [int(numbers[0])]
+            estimate = arr[:2]
+            information = upper_triangular_matrix_to_full_matrix(arr[2:], 2)
+            return cls(vertex_ids, information, estimate)
+
+        return None
+
+
+class EdgeWithToG2OWithFromG2O(EdgeWithToG2OWithoutFromG2O, EdgeWithoutToG2OWithFromG2O):
+    """An edge class with ``to_g2o`` and ``from_g2o`` methods."""
+
+
 class EdgeOPlus(BaseEdgeForTests):
     """A simple edge class for testing."""
 

tests/test_load.py

@@ -14,56 +14,17 @@
 from graphslam.graph import Graph
 from graphslam.load import load_g2o, load_g2o_r2, load_g2o_r3, load_g2o_se2, load_g2o_se3
 from graphslam.pose.r2 import PoseR2
-from graphslam.util import upper_triangular_matrix_to_full_matrix
 from graphslam.vertex import Vertex
 
-from .edge_types import BaseEdgeForTests
+from .edge_types import (
+    EdgeWithoutToG2OWithoutFromG2O,
+    EdgeWithToG2OWithoutFromG2O,
+    EdgeWithoutToG2OWithFromG2O,
+    EdgeWithToG2OWithFromG2O,
+)
 from .patchers import FAKE_FILE, open_fake_file
 
 
-class EdgeWithoutToG2OWithoutFromG2O(BaseEdgeForTests):
-    """An edge class without ``to_g2o`` and ``from_g2o`` support.
-
-    This class is only compatible with ``PoseR2`` poses.
-
-    """
-
-    def calc_error(self):
-        """Return an error vector."""
-        return np.array([1.0, 2.0])
-
-
-class EdgeWithToG2OWithoutFromG2O(EdgeWithoutToG2OWithoutFromG2O):
-    """An edge class with a ``to_g2o`` method but not a ``from_g2o`` method."""
-
-    def to_g2o(self):
-        """Write to g2o format."""
-        # fmt: off
-        return "TestEdge {} {} {} ".format(self.vertex_ids[0], self.estimate[0], self.estimate[1]) + " ".join([str(x) for x in self.information[np.triu_indices(2, 0)]]) + "\n"
-        # fmt: on
-
-
-class EdgeWithoutToG2OWithFromG2O(EdgeWithoutToG2OWithoutFromG2O):
-    """An edge class with a ``from_g2o`` method but not a ``to_g2o`` method."""
-
-    @classmethod
-    def from_g2o(cls, line):
-        """Write to g2o format."""
-        if line.startswith("TestEdge "):
-            numbers = line[len("TestEdge "):].split()  # fmt: skip
-            arr = np.array([float(number) for number in numbers[1:]], dtype=np.float64)
-            vertex_ids = [int(numbers[0])]
-            estimate = arr[:2]
-            information = upper_triangular_matrix_to_full_matrix(arr[2:], 2)
-            return cls(vertex_ids, information, estimate)
-
-        return None
-
-
-class EdgeWithToG2OWithFromG2O(EdgeWithToG2OWithoutFromG2O, EdgeWithoutToG2OWithFromG2O):
-    """An edge class with ``to_g2o`` and ``from_g2o`` methods."""
-
-
 class TestLoad(unittest.TestCase):
     """Tests for the ``load`` functions."""