getmatrix() rejects a list of lists; revisit the base.X matrix/vector converters
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还没有人认领这个 Issue。
评估
调研方向
Start with getmatrix and getvector in the spatialmath base package, plus isvector and ismatrix, and run the three examples in the issue to reproduce the TypeError and the flat-list reshape. Check spatialmath/base/types.py for Points2 and Points3. The issue leaves open whether the flat-list reshape is intended and whether the type aliases should widen, so settle those with a maintainer before changing code. Done means nested lists and tuples are converted and shape-checked, with tests for the existing converters.
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描述
getmatrix() (and getvector()) reject the most natural way to write a set of points: a list of lists. Found while adding type hints to RTB, where a 2xN path of waypoints is passed to a function.
from spatialmath.base import getmatrix
getmatrix([[0, 1, 2], [0, 1, 0]], (2, None)) # TypeError: argument must be scalar or ndarray
getmatrix([[0, 0], [1, 1], [2, 0]], (2, None)) # TypeError
getmatrix(np.zeros((2, 5)), (2, None)) # OK, (2, 5)
Two related problems:
- Nested lists and tuples are rejected. The function accepts a scalar, a 1D array-like or an ndarray, but not a list of rows. I would expect it to convert these with
np.asarrayand then check the shape againstshape, raisingValueErroron mismatch. - A flat list is silently reshaped.
getmatrix([0, 1, 2, 3], (2, None))returns a(2, 2)array. That is convenient for(2,2)but can hide a mistake when the caller meant a path of 2 points or a different layout.
Also, Points2 and Points3 in spatialmath.base.types are plain NDArray, so the type hint says "ndarray only" while the docstrings in callers say "array_like".
Suggested direction:
- Make
getmatrix(and the otherbase.X...converters) accept array-likes of any nesting and validate the shape, so callers can replace hand-writtennp.asarray(...)plusndim/shapechecks with one call. - Decide whether the flat-list reshape is intended, and document it if so.
- Consider whether
Points2/Points3should widen to accept sequences.
I'll revisit the base.getvector/getmatrix/isvector/ismatrix family together, since the same question applies to all of them.
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