refactor: use custom error

kbm/__init__.py

@@ -0,0 +1,2 @@
+from kbm.exceptions import NegativeValueError as NegativeValueError
+from kbm.model import KinematicBicycleModel as KinematicBicycleModel

kbm/exceptions.py

@@ -0,0 +1,3 @@
+class NegativeValueError(Exception):
+    def __init__(self, argument: str) -> None:
+        super().__init__(f"{argument} must be positive.")

kbm/model/__init__.pyi

@@ -0,0 +1,55 @@
+from typing import ReadOnly, TypedDict
+
+class VehicleState(TypedDict):
+    x: ReadOnly[float]
+    y: ReadOnly[float]
+    yaw: ReadOnly[float]
+    steer: ReadOnly[float]
+    velocity: ReadOnly[float]
+    angular_velocity: ReadOnly[float]
+
+class KinematicBicycleModel:
+    def __init__(self, wheelbase: float, max_steer: float, delta_time: float = 0.05) -> None:
+        """
+        Summary
+        -------
+        This class implements the 2D Kinematic Bicycle Model for vehicle dynamics
+
+        Attributes
+        ----------
+        wheelbase (float) : vehicle's wheelbase [m]
+        max_steer (float) : vehicle's steering limits [rad]
+        delta_time (float) : discrete time period [s]
+
+        Methods
+        -------
+        update(x, y, yaw, steer, velocity, acceleration) -> VehicleState
+            updates the vehicle's state using the kinematic bicycle model
+        """
+    def update(
+        self,
+        x: float,
+        y: float,
+        yaw: float,
+        steer: float,
+        velocity: float,
+        acceleration: float,
+    ) -> VehicleState:
+        """
+        Summary
+        -------
+        updates the vehicle's state using the kinematic bicycle model
+
+        Parameters
+        ----------
+        x (int) : vehicle's x-coordinate [m]
+        y (int) : vehicle's y-coordinate [m]
+        yaw (int) : vehicle's heading [rad]
+        steer (int) : vehicle's steering angle [rad]
+        velocity (int) : vehicle's velocity in the x-axis [m/s]
+        acceleration (int) : vehicle's accleration [m/s^2]
+
+        Returns
+        -------
+        vehicle_state (VehicleState) : updated vehicle state dictionary
+        """

kbm/kbm.pyx → kbm/model/model.pyx

@@ -1,7 +1,7 @@
 # cython: language_level=3, cdivision=True
 
 from libc.math cimport atan2, cos, sin, tan
-
+from kbm.exceptions import NoNegativeValueError
 
 cdef packed struct VehicleState:
     long double x
@@ -19,10 +19,10 @@ cdef class KinematicBicycleModel:
 
     def __init__(self, const long double wheelbase, const long double max_steer, const long double delta_time=0.05):
         if delta_time <= 0:
-            raise ValueError("`delta_time` must be positive")
+            raise NoNegativeValueError("delta_time")
 
         if wheelbase <= 0:
-            raise ValueError("`wheelbase` must be positive")
+            raise NoNegativeValueError("wheelbase")
 
         self.delta_time = delta_time
         self.wheelbase = wheelbase

pyproject.toml

@@ -12,16 +12,11 @@ reinstall-package = ["scipath"]
 scipath = { git = "https://github.com/winstxnhdw/scipath" }
 
 [dependency-groups]
-dev = [
-    "cython>=3.0.11",
-    "matplotlib>=3.9.2",
-    "scipath",
-]
+dev = ["cython>=3.0.11", "matplotlib>=3.9.2", "scipath", "setuptools>=75.3.0"]
 
 [tool.ruff]
 select = ["ALL"]
-ignore = ["D", "TCH", "PLR0913", "PLC0414"]
-src = ["scipy"]
+ignore = ["D", "TCH", "PLR0913", "PLC0414", "PYI021"]
 line-length = 120
 
 [tool.pyright]

setup.py

@@ -1,8 +1,12 @@
 from Cython.Build import cythonize
-from setuptools import find_packages, setup
+from setuptools import Extension, find_packages, setup
+
+extensions = [
+    Extension("kbm.model", ["kbm/model/model.pyx"]),
+]
 
 setup(
     name="kbm",
     packages=find_packages(include=["kbm", "kbm.*"]),
-    ext_modules=cythonize("kbm/*.pyx"),  # pyright: ignore [reportUnknownArgumentType]
+    ext_modules=cythonize(extensions),  # pyright: ignore [reportUnknownArgumentType]
 )