initial structure implemented

docs -> _docs

components/factor_graph_optimizer/__init__.py

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+from .base import FactorGraphOptimizerBase
+from .factor_graph_optimizer import FactorGraphOptimizer
+
+__all__ = ["FactorGraphOptimizerBase", "FactorGraphOptimizer"]
+

components/factor_graph_optimizer/base.py

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+from abc import ABC, abstractmethod
+from typing import Optional
+import numpy as np
+
+from models.core import Pose, GPSPoint
+from models.results import OptimizationResult, RefinedFrameResult
+from models.processing import RelativePose
+
+
+class FactorGraphOptimizerBase(ABC):
+    @abstractmethod
+    async def initialize_graph(self, flight_id: str) -> bool:
+        pass
+
+    @abstractmethod
+    async def add_odometry_factor(
+        self,
+        flight_id: str,
+        from_frame: int,
+        to_frame: int,
+        relative_pose: RelativePose,
+    ) -> bool:
+        pass
+
+    @abstractmethod
+    async def add_gps_prior(
+        self,
+        flight_id: str,
+        frame_id: int,
+        gps: GPSPoint,
+        covariance: np.ndarray,
+    ) -> bool:
+        pass
+
+    @abstractmethod
+    async def optimize(
+        self, flight_id: str, max_iterations: int = 100
+    ) -> OptimizationResult:
+        pass
+
+    @abstractmethod
+    async def get_optimized_poses(
+        self, flight_id: str
+    ) -> list[RefinedFrameResult]:
+        pass
+
+    @abstractmethod
+    async def get_pose(
+        self, flight_id: str, frame_id: int
+    ) -> Optional[Pose]:
+        pass
+
+    @abstractmethod
+    async def marginalize_old_poses(
+        self, flight_id: str, keep_last_n: int
+    ) -> bool:
+        pass
+

components/factor_graph_optimizer/factor_graph_optimizer.py

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+from typing import Optional
+import numpy as np
+
+from .base import FactorGraphOptimizerBase
+from models.core import Pose, GPSPoint
+from models.results import OptimizationResult, RefinedFrameResult
+from models.processing import RelativePose
+
+
+class FactorGraphOptimizer(FactorGraphOptimizerBase):
+    async def initialize_graph(self, flight_id: str) -> bool:
+        raise NotImplementedError
+
+    async def add_odometry_factor(
+        self,
+        flight_id: str,
+        from_frame: int,
+        to_frame: int,
+        relative_pose: RelativePose,
+    ) -> bool:
+        raise NotImplementedError
+
+    async def add_gps_prior(
+        self,
+        flight_id: str,
+        frame_id: int,
+        gps: GPSPoint,
+        covariance: np.ndarray,
+    ) -> bool:
+        raise NotImplementedError
+
+    async def optimize(
+        self, flight_id: str, max_iterations: int = 100
+    ) -> OptimizationResult:
+        raise NotImplementedError
+
+    async def get_optimized_poses(
+        self, flight_id: str
+    ) -> list[RefinedFrameResult]:
+        raise NotImplementedError
+
+    async def get_pose(
+        self, flight_id: str, frame_id: int
+    ) -> Optional[Pose]:
+        raise NotImplementedError
+
+    async def marginalize_old_poses(
+        self, flight_id: str, keep_last_n: int
+    ) -> bool:
+        raise NotImplementedError
+