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Issue 144 #152

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6a9904f
fix bug where `getunit` converts a scalar argument to a 0d numpy array
petercorke Jan 11, 2025
e955aaf
Merge branch 'master' into issue-144
petercorke Jan 11, 2025
cfa84cc
`getunit` had an argument `dim` which was used both to check the dime…
petercorke Jan 12, 2025
022bdb1
Merge branch 'issue-144' of https://github.com/petercorke/spatialmath…
petercorke Jan 12, 2025
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62 changes: 38 additions & 24 deletions spatialmath/base/argcheck.py
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Original file line number Diff line number Diff line change
Expand Up @@ -283,8 +283,7 @@ def getvector(
dim: Optional[Union[int, None]] = None,
out: str = "array",
dtype: DTypeLike = np.float64,
) -> NDArray:
...
) -> NDArray: ...


@overload
Expand All @@ -293,8 +292,7 @@ def getvector(
dim: Optional[Union[int, None]] = None,
out: str = "list",
dtype: DTypeLike = np.float64,
) -> List[float]:
...
) -> List[float]: ...


@overload
Expand All @@ -303,8 +301,7 @@ def getvector(
dim: Optional[Union[int, None]] = None,
out: str = "sequence",
dtype: DTypeLike = np.float64,
) -> Tuple[float, ...]:
...
) -> Tuple[float, ...]: ...


@overload
Expand All @@ -313,8 +310,7 @@ def getvector(
dim: Optional[Union[int, None]] = None,
out: str = "sequence",
dtype: DTypeLike = np.float64,
) -> List[float]:
...
) -> List[float]: ...


def getvector(
Expand Down Expand Up @@ -522,16 +518,20 @@ def isvector(v: Any, dim: Optional[int] = None) -> bool:
return False


def getunit(v: ArrayLike, unit: str = "rad", dim=None) -> Union[float, NDArray]:
def getunit(
v: ArrayLike, unit: str = "rad", dim: Optional[int] = None, vector: bool = True
) -> Union[float, NDArray]:
"""
Convert values according to angular units

:param v: the value in radians or degrees
:type v: array_like(m)
:param unit: the angular unit, "rad" or "deg"
:type unit: str
:param dim: expected dimension of input, defaults to None
:param dim: expected dimension of input, defaults to don't check (None)
:type dim: int, optional
:param vector: return a scalar as a 1d vector, defaults to True
:type vector: bool, optional
:return: the converted value in radians
:rtype: ndarray(m) or float
:raises ValueError: argument is not a valid angular unit
Expand All @@ -543,30 +543,44 @@ def getunit(v: ArrayLike, unit: str = "rad", dim=None) -> Union[float, NDArray]:
>>> from spatialmath.base import getunit
>>> import numpy as np
>>> getunit(1.5, 'rad')
>>> getunit(1.5, 'rad', dim=0)
>>> # getunit([1.5], 'rad', dim=0) --> ValueError
>>> getunit(90, 'deg')
>>> getunit(90, 'deg', vector=False) # force a scalar output
>>> getunit(1.5, 'rad', dim=0) # check argument is scalar
>>> getunit(1.5, 'rad', dim=3) # check argument is a 3-vector
>>> getunit([1.5], 'rad', dim=1) # check argument is a 1-vector
>>> getunit([1.5], 'rad', dim=3) # check argument is a 3-vector
>>> getunit([90, 180], 'deg')
>>> getunit(np.r_[0.5, 1], 'rad')
>>> getunit(np.r_[90, 180], 'deg')
>>> getunit(np.r_[90, 180], 'deg', dim=2)
>>> # getunit([90, 180], 'deg', dim=3) --> ValueError
>>> getunit(np.r_[90, 180], 'deg', dim=2) # check argument is a 2-vector
>>> getunit([90, 180], 'deg', dim=3) # check argument is a 3-vector

:note:
- the input value is processed by :func:`getvector` and the argument ``dim`` can
be used to check that ``v`` is the desired length.
- the output is always an ndarray except if the input is a scalar and ``dim=0``.
be used to check that ``v`` is the desired length. Note that 0 means a scalar,
whereas 1 means a 1-element array.
- the output is always an ndarray except if the input is a scalar and ``vector=False``.

:seealso: :func:`getvector`
"""
if not isinstance(v, Iterable) and dim == 0:
# scalar in, scalar out
if unit == "rad":
return v
elif unit == "deg":
return np.deg2rad(v)
if not isinstance(v, Iterable):
# scalar input
if dim is not None and dim != 0:
raise ValueError("for dim==0 input must be a scalar")
if vector:
# scalar in, vector out
if unit == "deg":
v = np.deg2rad(v)
elif unit != "rad":
raise ValueError("invalid angular units")
return np.array([v])
else:
raise ValueError("invalid angular units")
# scalar in, scalar out
if unit == "rad":
return v
elif unit == "deg":
return np.deg2rad(v)
else:
raise ValueError("invalid angular units")

else:
# scalar or iterable in, ndarray out
Expand Down
52 changes: 23 additions & 29 deletions spatialmath/base/transforms2d.py
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ def rot2(theta: float, unit: str = "rad") -> SO2Array:
>>> rot2(0.3)
>>> rot2(45, 'deg')
"""
theta = smb.getunit(theta, unit, dim=0)
theta = smb.getunit(theta, unit, vector=False)
ct = smb.sym.cos(theta)
st = smb.sym.sin(theta)
# fmt: off
Expand Down Expand Up @@ -172,18 +172,15 @@ def tr2xyt(T: SE2Array, unit: str = "rad") -> R3:

# ---------------------------------------------------------------------------------------#
@overload # pragma: no cover
def transl2(x: float, y: float) -> SE2Array:
...
def transl2(x: float, y: float) -> SE2Array: ...


@overload # pragma: no cover
def transl2(x: ArrayLike2) -> SE2Array:
...
def transl2(x: ArrayLike2) -> SE2Array: ...


@overload # pragma: no cover
def transl2(x: SE2Array) -> R2:
...
def transl2(x: SE2Array) -> R2: ...


def transl2(x, y=None):
Expand Down Expand Up @@ -446,8 +443,7 @@ def trlog2(
twist: bool = False,
check: bool = True,
tol: float = 20,
) -> so2Array:
...
) -> so2Array: ...


@overload # pragma: no cover
Expand All @@ -456,8 +452,7 @@ def trlog2(
twist: bool = False,
check: bool = True,
tol: float = 20,
) -> se2Array:
...
) -> se2Array: ...


@overload # pragma: no cover
Expand All @@ -466,8 +461,7 @@ def trlog2(
twist: bool = True,
check: bool = True,
tol: float = 20,
) -> float:
...
) -> float: ...


@overload # pragma: no cover
Expand All @@ -476,8 +470,7 @@ def trlog2(
twist: bool = True,
check: bool = True,
tol: float = 20,
) -> R3:
...
) -> R3: ...


def trlog2(
Expand Down Expand Up @@ -563,13 +556,15 @@ def trlog2(

# ---------------------------------------------------------------------------------------#
@overload # pragma: no cover
def trexp2(S: so2Array, theta: Optional[float] = None, check: bool = True) -> SO2Array:
...
def trexp2(
S: so2Array, theta: Optional[float] = None, check: bool = True
) -> SO2Array: ...


@overload # pragma: no cover
def trexp2(S: se2Array, theta: Optional[float] = None, check: bool = True) -> SE2Array:
...
def trexp2(
S: se2Array, theta: Optional[float] = None, check: bool = True
) -> SE2Array: ...


def trexp2(
Expand Down Expand Up @@ -692,8 +687,7 @@ def trexp2(


@overload # pragma: no cover
def trnorm2(R: SO2Array) -> SO2Array:
...
def trnorm2(R: SO2Array) -> SO2Array: ...


def trnorm2(T: SE2Array) -> SE2Array:
Expand Down Expand Up @@ -758,13 +752,11 @@ def trnorm2(T: SE2Array) -> SE2Array:


@overload # pragma: no cover
def tradjoint2(T: SO2Array) -> R1x1:
...
def tradjoint2(T: SO2Array) -> R1x1: ...


@overload # pragma: no cover
def tradjoint2(T: SE2Array) -> R3x3:
...
def tradjoint2(T: SE2Array) -> R3x3: ...


def tradjoint2(T):
Expand Down Expand Up @@ -853,13 +845,15 @@ def tr2jac2(T: SE2Array) -> R3x3:


@overload
def trinterp2(start: Optional[SO2Array], end: SO2Array, s: float, shortest: bool = True) -> SO2Array:
...
def trinterp2(
start: Optional[SO2Array], end: SO2Array, s: float, shortest: bool = True
) -> SO2Array: ...


@overload
def trinterp2(start: Optional[SE2Array], end: SE2Array, s: float, shortest: bool = True) -> SE2Array:
...
def trinterp2(
start: Optional[SE2Array], end: SE2Array, s: float, shortest: bool = True
) -> SE2Array: ...


def trinterp2(start, end, s, shortest: bool = True):
Expand Down
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