def _import(self, value, check=True):
if isinstance(value, np.ndarray) and self.isvalid(value, check=check):
if value.shape == (3, 3):
# it's an se(2)
return base.vexa(value)
elif value.shape == (3, ):
# it's a twist vector
return value
elif base.ishom2(value, check=check):
return base.trlog2(value, twist=True, check=False)
raise TypeError('bad type passed')
def isvalid(x, check=True):
"""
Test if matrix is valid SE(2)
:param x: matrix to test
:type x: numpy.ndarray
:return: true if the matrix is a valid element of SE(2), ie. it is a
3x3 homogeneous rigid-body transformation matrix.
:rtype: bool
:seealso: :func:`~spatialmath.base.transform2d.ishom`
"""
return not check or tr.ishom2(x, check=True)
def isvalid(x):
return tr.ishom2(x, check=True)
