Using check=False seems to return empty types

Author: taughz

tests/test_quaternion.py

@@ -892,6 +892,9 @@ def test_constructor(self):
         # tc.verifyError( @() Quaternion(2), 'SMTB:Quaternion:badarg')
         # tc.verifyError( @() Quaternion([1, 2, 3]), 'SMTB:Quaternion:badarg')
 
+        # an array that is not a 4-vector must not give an empty Quaternion
+        self.assertNotEqual(len(Quaternion(np.random.rand(3, 4))), 0)
+
     def test_string(self):
         u = Quaternion()
 

tests/test_twist.py

@@ -67,6 +67,12 @@ def test_conversion_SE3(self):
         T = SE3.Rx(0) * SE3(1, 2, 3)
         array_compare(Twist3(T).SE3(), T)
 
+        # from an SE(3) matrix, with and without checking
+        for check in (True, False):
+            tw = Twist3(T.A, check=check)
+            self.assertEqual(len(tw), 1)
+            array_compare(tw.SE3(), T)
+
     def test_conversion_se3(self):
         s = [1, 2, 3, 4, 5, 6]
         x = Twist3(s)
@@ -83,6 +89,12 @@ def test_conversion_se3(self):
             ),
         )
 
+        # from an se(3) matrix, with and without checking
+        for check in (True, False):
+            tw = Twist3(x.skewa(), check=check)
+            self.assertEqual(len(tw), 1)
+            array_compare(tw, x)
+
     def test_conversion_Plucker(self):
         pass
 
@@ -271,6 +283,12 @@ def test_conversion_SE2(self):
         self.assertIsInstance(tw.SE2(), SE2)
         self.assertEqual(len(tw.SE2()), 1)
 
+        # from an SE(2) matrix, with and without checking
+        for check in (True, False):
+            tw = Twist2(T.A, check=check)
+            self.assertEqual(len(tw), 1)
+            array_compare(tw.SE2(), T)
+
     def test_conversion_se2(self):
         s = [1, 2, 3]
         x = Twist2(s)
@@ -279,6 +297,12 @@ def test_conversion_se2(self):
             x.skewa(), np.array([[0.0, -3.0, 1.0], [3.0, 0.0, 2.0], [0.0, 0.0, 0.0]])
         )
 
+        # from an se(2) matrix, with and without checking
+        for check in (True, False):
+            tw = Twist2(x.skewa(), check=check)
+            self.assertEqual(len(tw), 1)
+            array_compare(tw, x)
+
     def test_list_constuctor(self):
         x = Twist2([1, 0, 0])