test(e2e): add DatasetAdapter base interface + capability dataclass

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

src/gps_denied/testing/datasets/base.py

@@ -0,0 +1,74 @@
+"""DatasetAdapter — uniform interface for e2e harness over arbitrary UAV datasets."""
+
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+from dataclasses import dataclass
+from enum import Enum
+from typing import Iterator
+
+
+class PlatformClass(str, Enum):
+    FIXED_WING = "fixed_wing"
+    ROTARY = "rotary"
+    INDOOR = "indoor"
+    SYNTHETIC = "synthetic"
+
+
+class DatasetNotAvailableError(RuntimeError):
+    """Raised when a dataset's expected files are missing. Tests should skip, not fail."""
+
+
+@dataclass(frozen=True)
+class DatasetCapabilities:
+    has_raw_imu: bool
+    has_rtk_gt: bool
+    has_loop_closures: bool
+    platform_class: PlatformClass
+
+
+@dataclass(frozen=True)
+class DatasetFrame:
+    frame_idx: int
+    timestamp_ns: int
+    image_path: str
+
+
+@dataclass(frozen=True)
+class DatasetIMU:
+    timestamp_ns: int
+    accel: tuple[float, float, float]  # m/s^2 in body frame
+    gyro: tuple[float, float, float]   # rad/s in body frame
+
+
+@dataclass(frozen=True)
+class DatasetPose:
+    timestamp_ns: int
+    lat: float
+    lon: float
+    alt: float
+    qx: float
+    qy: float
+    qz: float
+    qw: float
+
+
+class DatasetAdapter(ABC):
+    """Uniform read-only iteration over a UAV dataset."""
+
+    @property
+    @abstractmethod
+    def name(self) -> str: ...
+
+    @property
+    @abstractmethod
+    def capabilities(self) -> DatasetCapabilities: ...
+
+    @abstractmethod
+    def iter_frames(self) -> Iterator[DatasetFrame]: ...
+
+    @abstractmethod
+    def iter_imu(self) -> Iterator[DatasetIMU]: ...
+
+    @abstractmethod
+    def iter_ground_truth(self) -> Iterator[DatasetPose]: ...