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Reject unsupported ndarray ranks in isvector - #239
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Codecov Report✅ All modified and coverable lines are covered by tests. 📢 Thoughts on this report? Let us know! |
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Thank you for your interest in SMTB, and for the careful fix. Your I've approved this. Merging is up to the RAI maintainers, so it may take a little while. Thanks again! |
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A quick note on the failing The docs build itself completes. It fails on its final step, which tries to push the built docs to The fix is already open as #222, which stops the docs job running on pull requests at all. It's waiting on review by the RAI maintainers. Once that merges, the check will go away, and refreshing this PR (for example with "Update branch") will pick up the fix. There's nothing you need to change on your side. |
…tract (#240) `e2h` and `h2e` had a single assertion each (N-vector input only). The matrix path and `h2e`'s per-column scaling were only exercised indirectly through the pose tests, and the shape contract for 2D input was undocumented. **Tests** (`tests/base/test_transformsNd.py`) - vector input as list, tuple, 1D array and column vector - matrix input for both functions - `h2e` scaling by each column's own last element - `h2e(e2h(x))` and `e2h(h2e(x))` round trips - `ValueError` for bad types - a characterization test pinning that a `(1,N)` array is a matrix of N 1-vectors, not a row vector. This documents current behavior rather than endorsing it, so any change to it is deliberate. **Behavior change (small)** - `h2e` now raises `ValueError` for input with fewer than two rows (a `(1,N)` array, a length-1 vector, or a scalar). Previously it returned an empty `(0,N)` array, which is never useful: a homogeneous point has at least two elements. Checked callers in MVTB (`Camera.py`, `ImageReshape.py`); both pass 3-row arrays. - `e2h` is unchanged. **Docstrings** (`spatialmath/base/transformsNd.py`) - Both functions state the contract up front: each *column* is a point, rows are never points, with explicit shapes and a note on how to convert a row vector (pass its transpose). - `:raises:` entries added; `e2h`'s `:seealso:` pointed at itself, now `h2e`. Rank-0 and rank-3 rejection is covered by #239 (`isvector`) and is deliberately not duplicated here; this PR is independent of it. Full suite: 355 passed, 3 skipped. 🤖 Generated with [Claude Code](https://claude.com/claude-code) --------- Co-authored-by: Claude Sonnet 5.5 <noreply@anthropic.com>
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isvector() accepts higher-rank arrays and crashes on zero-dimensional arrays. Require two dimensions before checking row/column shapes, matching its documented contract and preventing homogeneous conversions from silently flattening unsupported inputs. Restore positive controls hidden by a duplicate test name.
Thirteen regressions fail before the fix. Full suites pass on Windows Python 3.10/3.12/3.14 and Linux Python 3.13: 351 passed, three skipped, 18 subtests passed. Changed-file pre-commit checks and package builds pass.