Start tidying up algorithms module.

persontracking/algorithms.py

@@ -3,13 +3,13 @@ import math
 
 class Group:
 
-    _minX = None
-    _maxX = None
-    _minY = None
-    _maxY = None
-
     def __init__(self, number, points=[]):
         self._points = points
+        self._number = number
+        self._minX = None
+        self._maxX = None
+        self._minY = None
+        self._maxY = None
 
     def add_point(self, point):
         self._points.append(point)
@@ -18,20 +18,21 @@ class Group:
     def get_points(self):
         return self._points
 
-    # Should use property here.
+    @property
-    def set_number(self, number):
+    def number(self):
-        self._number = number
-
-    def get_number(self):
         return self._number
 
+    @number.setter
+    def number(self, number):
+        self._number = number
+
     def _update_min_max(self, new_point):
         '''
         Updates the in and max points for this group.
         This is to determine when assigning groups whether the
         same group is selected.
         '''
-        converted_point = self.convert_lidar_to_cartesian(new_point)
+        converted_point = convert_lidar_to_cartesian(new_point)
 
         if self._minX is None or self._minX > converted_point[0]:
             self._minX = converted_point[0]
@@ -45,11 +46,6 @@ class Group:
         if self._maxY is None or self._maxY < converted_point[1]:
             self._maxY = converted_point[1]
 
-    def convert_lidar_to_cartesian(self, new_point):
-        x = new_point[2] * math.sin(new_point[1])
-        y = new_point[2] * math.cos(new_point[1])
-        return (x, y)
-
     def get_minX(self):
         return self._minY
 
@@ -63,6 +59,12 @@ class Group:
         return self._maxY
 
 
+def convert_lidar_to_cartesian(new_point):
+    x = new_point[2] * math.sin(new_point[1])
+    y = new_point[2] * math.cos(new_point[1])
+    return (x, y)
+
+
 def calc_groups(scan):
     '''
     Calculates groups of points from a lidar scan. The scan should