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<section id="module-spatialmath.base.argcheck">
<span id="argument-checking"></span><h1>Argument checking<a class="headerlink" href="#module-spatialmath.base.argcheck" title="Permalink to this headline"></a></h1>
<p>Utility functions for testing and converting passed arguments. Used in all
spatialmath functions and classes to provides for flexibility in argument types
that can be passed.</p>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.assertmatrix">
<span class="sig-name descname"><span class="pre">assertmatrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">shape</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#assertmatrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.assertmatrix" title="Permalink to this definition"></a></dt>
<dd><p>Assert that argument is a 2D matrix</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>m</strong> – value to test</p></li>
<li><p><strong>shape</strong> (<em>2-tuple</em>) – required shape</p></li>
</ul>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><ul class="simple">
<li><p><strong>TypeError</strong> – if value is not a real Numpy array</p></li>
<li><p><strong>ValueError</strong> – if value is not of the specified shape</p></li>
</ul>
</dd>
</dl>
<p>Tests if the argument is a real 2D matrix with a specified shape <code class="docutils literal notranslate"><span class="pre">shape</span></code>
but the value <code class="docutils literal notranslate"><span class="pre">None</span></code> indicate an unspecified (wildcard, don’t care)
dimension.</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">assertsmatrix(A)</span></code> raises an exception if <code class="docutils literal notranslate"><span class="pre">m</span></code> is not convertible to
a 2D array</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">assertsmatrix(A,</span> <span class="pre">(N,M))</span></code> as above but <code class="docutils literal notranslate"><span class="pre">m</span></code> must have shape
(<code class="docutils literal notranslate"><span class="pre">N</span></code>,``M``)</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">assertsmatrix(A,</span> <span class="pre">(N,None))</span></code> as above but <code class="docutils literal notranslate"><span class="pre">m</span></code> must have <code class="docutils literal notranslate"><span class="pre">N</span></code> rows</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">assertsmatrix(A,</span> <span class="pre">(None,M))</span></code> as above but <code class="docutils literal notranslate"><span class="pre">m</span></code> must have <code class="docutils literal notranslate"><span class="pre">M</span></code> columns</p></li>
</ul>
<dl class="field-list simple">
<dt class="field-odd">Seealso</dt>
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.base.argcheck.ismatrix" title="spatialmath.base.argcheck.ismatrix"><code class="xref py py-func docutils literal notranslate"><span class="pre">ismatrix()</span></code></a></p>
</dd>
</dl>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.assertvector">
<span class="sig-name descname"><span class="pre">assertvector</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">v</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">msg</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#assertvector"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.assertvector" title="Permalink to this definition"></a></dt>
<dd><p>Assert that argument is a real vector</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>v</strong> – passed vector</p></li>
<li><p><strong>dim</strong> (<em>int</em><em> or </em><em>None</em>) – required dimension</p></li>
</ul>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p><strong>ValueError</strong> – if not a vector of specified length</p>
</dd>
</dl>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">assertvector(vec)</span></code> raise an exception if <code class="docutils literal notranslate"><span class="pre">vec</span></code> is not a vector, ie.
it is not any of:</p>
<blockquote>
<div><ul class="simple">
<li><p>a Python native int or float, a 1-vector</p></li>
<li><p>Python native list or tuple</p></li>
<li><p>numPy real 1D array, ie. shape=(N,)</p></li>
<li><p>numPy real 2D array with a singleton dimension, ie. shape=(1,N)
or (N,1)</p></li>
</ul>
</div></blockquote>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">assertvector(vec,</span> <span class="pre">N)</span></code> as above but must also check the length is <code class="docutils literal notranslate"><span class="pre">N</span></code>.</p></li>
</ul>
<dl class="field-list simple">
<dt class="field-odd">Seealso</dt>
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.base.argcheck.getvector" title="spatialmath.base.argcheck.getvector"><code class="xref py py-func docutils literal notranslate"><span class="pre">getvector()</span></code></a>, <a class="reference internal" href="#spatialmath.base.argcheck.isvector" title="spatialmath.base.argcheck.isvector"><code class="xref py py-func docutils literal notranslate"><span class="pre">isvector()</span></code></a></p>
</dd>
</dl>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.getmatrix">
<span class="sig-name descname"><span class="pre">getmatrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">shape</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dtype=<class</span> <span class="pre">'numpy.float64'></span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#getmatrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.getmatrix" title="Permalink to this definition"></a></dt>
<dd><p>Convert argument to 2D array</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>m</strong> – input value</p></li>
<li><p><strong>shape</strong> (<em>2-tuple</em>) – shape of returned matrix</p></li>
</ul>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><ul class="simple">
<li><p><strong>ValueError</strong> – if <code class="docutils literal notranslate"><span class="pre">m</span></code> is inconsistent with <code class="docutils literal notranslate"><span class="pre">shape</span></code></p></li>
<li><p><strong>TypeError</strong> – if <code class="docutils literal notranslate"><span class="pre">m</span></code> is not required type</p></li>
<li><p><strong>TypeError</strong> – if value is not a scalar or Numpy array</p></li>
<li><p><strong>ValueError</strong> – if value is not of the specified shape</p></li>
</ul>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>a 2D array</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p>NumPy ndarray</p>
</dd>
</dl>
<p><code class="docutils literal notranslate"><span class="pre">getmatrix(m,</span> <span class="pre">shape)</span></code> is a 2D matrix with shape <code class="docutils literal notranslate"><span class="pre">shape</span></code> formed from
<code class="docutils literal notranslate"><span class="pre">m</span></code> which can be a 2D array, 1D array-like or a scalar.</p>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">from</span> <span class="nn">spatialmath.base</span> <span class="kn">import</span> <span class="n">getmatrix</span>
<span class="gp">>>> </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="gp">>>> </span><span class="n">getmatrix</span><span class="p">(</span><span class="mi">3</span><span class="p">,</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">1</span><span class="p">))</span>
<span class="go">array([[3.]])</span>
<span class="gp">>>> </span><span class="n">getmatrix</span><span class="p">([</span><span class="mi">3</span><span class="p">,</span><span class="mi">4</span><span class="p">],</span> <span class="p">(</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">))</span>
<span class="go">array([[3., 4.]])</span>
<span class="gp">>>> </span><span class="n">getmatrix</span><span class="p">([</span><span class="mi">3</span><span class="p">,</span><span class="mi">4</span><span class="p">],</span> <span class="p">(</span><span class="mi">2</span><span class="p">,</span> <span class="mi">1</span><span class="p">))</span>
<span class="go">array([[3.],</span>
<span class="go"> [4.]])</span>
<span class="gp">>>> </span><span class="n">getmatrix</span><span class="p">([</span><span class="mi">3</span><span class="p">,</span><span class="mi">4</span><span class="p">,</span><span class="mi">5</span><span class="p">,</span><span class="mi">6</span><span class="p">],</span> <span class="p">(</span><span class="mi">2</span><span class="p">,</span><span class="mi">2</span><span class="p">))</span>
<span class="go">array([[3., 4.],</span>
<span class="go"> [5., 6.]])</span>
<span class="gp">>>> </span><span class="n">getmatrix</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">3</span><span class="p">,</span><span class="mi">4</span><span class="p">,</span><span class="mi">5</span><span class="p">,</span><span class="mi">6</span><span class="p">],</span> <span class="p">(</span><span class="mi">2</span><span class="p">,</span><span class="mi">2</span><span class="p">))</span>
<span class="go">array([[3., 4.],</span>
<span class="go"> [5., 6.]])</span>
</pre></div>
</div>
<div class="admonition note">
<p class="admonition-title">Note</p>
<ul class="simple">
<li><p>If <code class="docutils literal notranslate"><span class="pre">m</span></code> is a 2D array its shape is compared to <code class="docutils literal notranslate"><span class="pre">shape</span></code> - a 2-tuple
where <code class="docutils literal notranslate"><span class="pre">None</span></code> stands for unspecified, ie. <code class="docutils literal notranslate"><span class="pre">(None,</span> <span class="pre">2)</span></code> will match
any array where the second dimension is 2.</p></li>
<li><p>If <code class="docutils literal notranslate"><span class="pre">m</span></code> is a 1D array its shape is checked to see if it can be
reshaped to <code class="docutils literal notranslate"><span class="pre">shape</span></code>. A n-array could be reshaped as (n,1) or (1,n)
or any other shape with the correct number of elements. A value of
<code class="docutils literal notranslate"><span class="pre">None</span></code> in the shape stands for unspecified, ie. <code class="docutils literal notranslate"><span class="pre">(None,</span> <span class="pre">2)</span></code> will
attempt to reshape <code class="docutils literal notranslate"><span class="pre">m</span></code> as an array with shape (k,2) where <span class="math notranslate nohighlight">\(k \times 2 \eq n\)</span>.</p></li>
<li><p>If <code class="docutils literal notranslate"><span class="pre">m</span></code> is a scalar, return an array of shape (1,1)</p></li>
</ul>
</div>
<dl class="field-list simple">
<dt class="field-odd">Seealso</dt>
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.base.argcheck.ismatrix" title="spatialmath.base.argcheck.ismatrix"><code class="xref py py-func docutils literal notranslate"><span class="pre">ismatrix()</span></code></a>, <a class="reference internal" href="#spatialmath.base.argcheck.verifymatrix" title="spatialmath.base.argcheck.verifymatrix"><code class="xref py py-func docutils literal notranslate"><span class="pre">verifymatrix()</span></code></a></p>
</dd>
<dt class="field-even">SymPy</dt>
<dd class="field-even"><p>supported</p>
</dd>
</dl>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.getunit">
<span class="sig-name descname"><span class="pre">getunit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">v</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">unit</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'rad'</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Union</span><span class="p"><span class="pre">[</span></span><span class="pre">list</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">tuple</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">set</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#getunit"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.getunit" title="Permalink to this definition"></a></dt>
<dd><p>Convert value according to angular units</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>v</strong> (<em>array_like</em><em>(</em><em>m</em><em>) or </em><em>ndarray</em><em>(</em><em>m</em><em>)</em>) – the value in radians or degrees</p></li>
<li><p><strong>unit</strong> (<em>str</em>) – the angular unit, “rad” or “deg”</p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>the converted value in radians</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>list(m) or ndarray(m)</p>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><p><strong>ValueError</strong> – argument is not a valid angular unit</p>
</dd>
</dl>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">from</span> <span class="nn">spatialmath.base</span> <span class="kn">import</span> <span class="n">getunit</span>
<span class="gp">>>> </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="gp">>>> </span><span class="n">getunit</span><span class="p">(</span><span class="mf">1.5</span><span class="p">,</span> <span class="s1">'rad'</span><span class="p">)</span>
<span class="go">1.5</span>
<span class="gp">>>> </span><span class="n">getunit</span><span class="p">(</span><span class="mi">90</span><span class="p">,</span> <span class="s1">'deg'</span><span class="p">)</span>
<span class="go">1.5707963267948966</span>
<span class="gp">>>> </span><span class="n">getunit</span><span class="p">([</span><span class="mi">90</span><span class="p">,</span> <span class="mi">180</span><span class="p">],</span> <span class="s1">'deg'</span><span class="p">)</span>
<span class="go">[1.5707963267948966, 3.141592653589793]</span>
<span class="gp">>>> </span><span class="n">getunit</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mf">0.5</span><span class="p">,</span> <span class="mi">1</span><span class="p">],</span> <span class="s1">'rad'</span><span class="p">)</span>
<span class="go">array([0.5, 1. ])</span>
<span class="gp">>>> </span><span class="n">getunit</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">90</span><span class="p">,</span> <span class="mi">180</span><span class="p">],</span> <span class="s1">'deg'</span><span class="p">)</span>
<span class="go">array([1.5708, 3.1416])</span>
</pre></div>
</div>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.getvector">
<span class="sig-name descname"><span class="pre">getvector</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">v</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dim=None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">out='array'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dtype=<class</span> <span class="pre">'numpy.float64'></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">→</span> <span class="sig-return-typehint"><span class="pre">Union</span><span class="p"><span class="pre">[</span></span><span class="pre">list</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">tuple</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">set</span><span class="p"><span class="pre">]</span></span></span></span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#getvector"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.getvector" title="Permalink to this definition"></a></dt>
<dd><p>Return a vector value</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>v</strong> – passed vector</p></li>
<li><p><strong>dim</strong> (<em>int</em><em> or </em><em>None</em>) – required dimension, or None if any length is ok</p></li>
<li><p><strong>out</strong> (<em>str</em>) – output format, default is ‘array’</p></li>
<li><p><strong>dtype</strong> (<em>numPy type</em>) – datatype for numPy array return (default np.float64)</p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>vector value in specified format</p>
</dd>
<dt class="field-odd">Raises</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>TypeError</strong> – value is not a list or NumPy array</p></li>
<li><p><strong>ValueError</strong> – incorrect number of elements</p></li>
</ul>
</dd>
</dl>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">getvector(vec)</span></code> is <code class="docutils literal notranslate"><span class="pre">vec</span></code> converted to the output format <code class="docutils literal notranslate"><span class="pre">out</span></code>
where <code class="docutils literal notranslate"><span class="pre">vec</span></code> is any of:</p>
<blockquote>
<div><ul class="simple">
<li><p>a Python native int or float, a 1-vector</p></li>
<li><p>Python native list or tuple</p></li>
<li><p>numPy real 1D array, ie. shape=(N,)</p></li>
<li><p>numPy real 2D array with a singleton dimension, ie. shape=(1,N)
or (N,1)</p></li>
</ul>
</div></blockquote>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">getvector(vec,</span> <span class="pre">N)</span></code> as above but must be an <code class="docutils literal notranslate"><span class="pre">N</span></code>-element vector.</p></li>
</ul>
<p>The returned vector will be in the format specified by <code class="docutils literal notranslate"><span class="pre">out</span></code>:</p>
<table class="docutils align-default">
<colgroup>
<col style="width: 18%" />
<col style="width: 82%" />
</colgroup>
<thead>
<tr class="row-odd"><th class="head"><p>format</p></th>
<th class="head"><p>return type</p></th>
</tr>
</thead>
<tbody>
<tr class="row-even"><td><p>‘sequence’</p></td>
<td><p>Python list, or tuple if a tuple was passed in</p></td>
</tr>
<tr class="row-odd"><td><p>‘list’</p></td>
<td><p>Python list</p></td>
</tr>
<tr class="row-even"><td><p>‘array’</p></td>
<td><p>1D numPy array, shape=(N,) [default]</p></td>
</tr>
<tr class="row-odd"><td><p>‘row’</p></td>
<td><p>row vector, a 2D numPy array, shape=(1,N)</p></td>
</tr>
<tr class="row-even"><td><p>‘col’</p></td>
<td><p>column vector, 2D numPy array, shape=(N,1)</p></td>
</tr>
</tbody>
</table>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">from</span> <span class="nn">spatialmath.base</span> <span class="kn">import</span> <span class="n">getvector</span>
<span class="gp">>>> </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="gp">>>> </span><span class="n">getvector</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">])</span> <span class="c1"># list</span>
<span class="go">array([1., 2.])</span>
<span class="gp">>>> </span><span class="n">getvector</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">],</span> <span class="n">out</span><span class="o">=</span><span class="s1">'row'</span><span class="p">)</span> <span class="c1"># list</span>
<span class="go">array([[1., 2.]])</span>
<span class="gp">>>> </span><span class="n">getvector</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">],</span> <span class="n">out</span><span class="o">=</span><span class="s1">'col'</span><span class="p">)</span> <span class="c1"># list</span>
<span class="go">array([[1.],</span>
<span class="go"> [2.]])</span>
<span class="gp">>>> </span><span class="n">getvector</span><span class="p">((</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">))</span> <span class="c1"># tuple</span>
<span class="go">array([1., 2.])</span>
<span class="gp">>>> </span><span class="n">getvector</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">,</span><span class="mi">3</span><span class="p">],</span> <span class="n">out</span><span class="o">=</span><span class="s1">'sequence'</span><span class="p">)</span> <span class="c1"># numpy array</span>
<span class="go">[1, 2, 3]</span>
<span class="gp">>>> </span><span class="n">getvector</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span> <span class="c1"># scalar</span>
<span class="go">array([1.])</span>
<span class="gp">>>> </span><span class="n">getvector</span><span class="p">([</span><span class="mi">1</span><span class="p">])</span>
<span class="go">array([1.])</span>
<span class="gp">>>> </span><span class="n">getvector</span><span class="p">([[</span><span class="mi">1</span><span class="p">]])</span>
<span class="go">array([[1.]])</span>
</pre></div>
</div>
<div class="admonition note">
<p class="admonition-title">Note</p>
<ul class="simple">
<li><p>For ‘array’, ‘row’ or ‘col’ output the NumPy dtype defaults to the
<code class="docutils literal notranslate"><span class="pre">dtype</span></code> of <code class="docutils literal notranslate"><span class="pre">v</span></code> if it is a NumPy array, otherwise it is
set to the value specified by the <code class="docutils literal notranslate"><span class="pre">dtype</span></code> keyword which defaults
to <code class="docutils literal notranslate"><span class="pre">np.float64</span></code>.</p></li>
<li><p>If <code class="docutils literal notranslate"><span class="pre">v</span></code> is symbolic the <code class="docutils literal notranslate"><span class="pre">dtype</span></code> is retained as <code class="docutils literal notranslate"><span class="pre">'O'</span></code></p></li>
</ul>
</div>
<dl class="field-list simple">
<dt class="field-odd">Seealso</dt>
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.base.argcheck.isvector" title="spatialmath.base.argcheck.isvector"><code class="xref py py-func docutils literal notranslate"><span class="pre">isvector()</span></code></a></p>
</dd>
</dl>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.isinteger">
<span class="sig-name descname"><span class="pre">isinteger</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#isinteger"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.isinteger" title="Permalink to this definition"></a></dt>
<dd><p>Test if argument is a scalar integer</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>x</strong> – value to test</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>whether value is a scalar</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
<p><code class="docutils literal notranslate"><span class="pre">isinteger(x)</span></code> is <code class="docutils literal notranslate"><span class="pre">True</span></code> if <code class="docutils literal notranslate"><span class="pre">x</span></code> is a Python or numPy int or real float.</p>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="go"> File "<input>", line 1, in <module></span>
<span class="go">NameError: name 'isinteger' is not defined</span>
</pre></div>
</div>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.islistof">
<span class="sig-name descname"><span class="pre">islistof</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">value</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">what</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#islistof"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.islistof" title="Permalink to this definition"></a></dt>
<dd><p>Test if argument is a list of specified type</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>value</strong> (<em>list</em><em> or </em><em>tuple</em>) – the value to test</p></li>
<li><p><strong>what</strong> (<em>type</em><em> or </em><em>callable</em>) – type, tuple of types or function</p></li>
<li><p><strong>n</strong> (<em>int</em><em>, </em><em>optional</em>) – length of list, defaults to None</p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>whether <code class="docutils literal notranslate"><span class="pre">value</span></code> is a specified list</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
<p>Tests that every element of <code class="docutils literal notranslate"><span class="pre">value</span></code> is of the desired type. The type
is specified by <code class="docutils literal notranslate"><span class="pre">what</span></code> and can be:</p>
<ul class="simple">
<li><p>a single type, eg. <code class="docutils literal notranslate"><span class="pre">int</span></code></p></li>
<li><p>a tuple of types, eg. <code class="docutils literal notranslate"><span class="pre">(int,</span> <span class="pre">float)</span></code></p></li>
<li><p>a reference to a function which is passed each elemnent of the list and
returns True if it is a valid member of the list.</p></li>
</ul>
<p>The length of the list can also be tested by specifying the argument <code class="docutils literal notranslate"><span class="pre">n</span></code>.</p>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">from</span> <span class="nn">spatialmath.base</span> <span class="kn">import</span> <span class="n">islistof</span>
<span class="gp">>>> </span><span class="n">a</span> <span class="o">=</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="mi">4</span><span class="p">,</span> <span class="mi">5</span><span class="p">]</span>
<span class="gp">>>> </span><span class="n">islistof</span><span class="p">(</span><span class="n">a</span><span class="p">,</span> <span class="nb">int</span><span class="p">)</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">islistof</span><span class="p">(</span><span class="n">a</span><span class="p">,</span> <span class="nb">int</span><span class="p">,</span> <span class="mi">2</span><span class="p">)</span>
<span class="go">False</span>
<span class="gp">>>> </span><span class="n">a</span> <span class="o">=</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="mf">4.5</span><span class="p">,</span> <span class="mf">5.6</span><span class="p">]</span>
<span class="gp">>>> </span><span class="n">islistof</span><span class="p">(</span><span class="n">a</span><span class="p">,</span> <span class="nb">int</span><span class="p">)</span>
<span class="go">False</span>
<span class="gp">>>> </span><span class="n">islistof</span><span class="p">(</span><span class="n">a</span><span class="p">,</span> <span class="p">(</span><span class="nb">int</span><span class="p">,</span> <span class="nb">float</span><span class="p">))</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">a</span> <span class="o">=</span> <span class="p">[[</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">],</span> <span class="p">[</span><span class="mi">3</span><span class="p">,</span> <span class="mi">4</span><span class="p">],</span> <span class="p">[</span><span class="mi">5</span><span class="p">,</span><span class="mi">6</span><span class="p">]]</span>
<span class="gp">>>> </span><span class="n">islistof</span><span class="p">(</span><span class="n">a</span><span class="p">,</span> <span class="k">lambda</span> <span class="n">x</span><span class="p">:</span> <span class="n">islistof</span><span class="p">(</span><span class="n">x</span><span class="p">,</span> <span class="nb">int</span><span class="p">,</span> <span class="mi">2</span><span class="p">))</span>
<span class="go">True</span>
</pre></div>
</div>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.ismatrix">
<span class="sig-name descname"><span class="pre">ismatrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">shape</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#ismatrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.ismatrix" title="Permalink to this definition"></a></dt>
<dd><p>Test if argument is a real 2D matrix</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>m</strong> – value to test :param shape: required shape :type shape: 2-tuple</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>True if value is of specified shape :rtype: bool</p>
</dd>
</dl>
<p>Tests if the argument is a real 2D matrix with a specified shape <code class="docutils literal notranslate"><span class="pre">shape</span></code>
but the value <code class="docutils literal notranslate"><span class="pre">None</span></code> indicate an unspecified (wildcard, don’t care)
dimension, for example:</p>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">from</span> <span class="nn">spatialmath.base</span> <span class="kn">import</span> <span class="n">ismatrix</span>
<span class="gp">>>> </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="gp">>>> </span><span class="n">A</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">zeros</span><span class="p">((</span><span class="mi">2</span><span class="p">,</span><span class="mi">3</span><span class="p">))</span>
<span class="gp">>>> </span><span class="n">ismatrix</span><span class="p">(</span><span class="n">A</span><span class="p">,</span> <span class="p">(</span><span class="mi">2</span><span class="p">,</span><span class="mi">3</span><span class="p">))</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">ismatrix</span><span class="p">(</span><span class="n">A</span><span class="p">,</span> <span class="p">(</span><span class="kc">None</span><span class="p">,</span><span class="mi">3</span><span class="p">))</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">ismatrix</span><span class="p">(</span><span class="n">A</span><span class="p">,</span> <span class="p">(</span><span class="mi">2</span><span class="p">,</span><span class="kc">None</span><span class="p">))</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">ismatrix</span><span class="p">(</span><span class="n">A</span><span class="p">,</span> <span class="p">(</span><span class="mi">2</span><span class="p">,</span><span class="mi">4</span><span class="p">))</span>
<span class="go">False</span>
</pre></div>
</div>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>Unlike <code class="docutils literal notranslate"><span class="pre">verifymatrix</span></code> this function: - checks the argument is
real valued - allows the shape to have an unspecified dimension</p>
</div>
<dl class="field-list simple">
<dt class="field-odd">Seealso</dt>
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.base.argcheck.getmatrix" title="spatialmath.base.argcheck.getmatrix"><code class="xref py py-func docutils literal notranslate"><span class="pre">getmatrix()</span></code></a>, <a class="reference internal" href="#spatialmath.base.argcheck.verifymatrix" title="spatialmath.base.argcheck.verifymatrix"><code class="xref py py-func docutils literal notranslate"><span class="pre">verifymatrix()</span></code></a>, <a class="reference internal" href="#spatialmath.base.argcheck.assertmatrix" title="spatialmath.base.argcheck.assertmatrix"><code class="xref py py-func docutils literal notranslate"><span class="pre">assertmatrix()</span></code></a></p>
</dd>
</dl>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.isnumberlist">
<span class="sig-name descname"><span class="pre">isnumberlist</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#isnumberlist"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.isnumberlist" title="Permalink to this definition"></a></dt>
<dd><p>Test if argument is a list of scalars</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>x</strong> – the value to test</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>True if the argument is a list of real scalars</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
<p><code class="docutils literal notranslate"><span class="pre">isscalarlist(x)</span></code> is <code class="docutils literal notranslate"><span class="pre">True</span></code> if <code class="docutils literal notranslate"><span class="pre">x``</span></code> is a list of scalars.</p>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">from</span> <span class="nn">spatialmath.base</span> <span class="kn">import</span> <span class="n">isnumberlist</span>
<span class="gp">>>> </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="gp">>>> </span><span class="n">isnumberlist</span><span class="p">((</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">,</span><span class="mi">3</span><span class="p">))</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">isnumberlist</span><span class="p">([</span><span class="mf">1.1</span><span class="p">,</span> <span class="mf">2.2</span><span class="p">,</span> <span class="mf">3.3</span><span class="p">])</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">isnumberlist</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
<span class="go">False</span>
<span class="gp">>>> </span><span class="n">isnumberlist</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">])</span>
<span class="go">False</span>
</pre></div>
</div>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.isscalar">
<span class="sig-name descname"><span class="pre">isscalar</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#isscalar"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.isscalar" title="Permalink to this definition"></a></dt>
<dd><p>Test if argument is a real scalar</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>x</strong> – value to test</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>whether value is a scalar</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
<p><code class="docutils literal notranslate"><span class="pre">isscalar(x)</span></code> is <code class="docutils literal notranslate"><span class="pre">True</span></code> if <code class="docutils literal notranslate"><span class="pre">x</span></code> is a Python or numPy int or real float.</p>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">from</span> <span class="nn">spatialmath.base</span> <span class="kn">import</span> <span class="n">isscalar</span>
<span class="gp">>>> </span><span class="n">isscalar</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">isscalar</span><span class="p">(</span><span class="mf">1.2</span><span class="p">)</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">isscalar</span><span class="p">([</span><span class="mi">1</span><span class="p">])</span>
<span class="go">False</span>
</pre></div>
</div>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.isvector">
<span class="sig-name descname"><span class="pre">isvector</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">v</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dim</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#isvector"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.isvector" title="Permalink to this definition"></a></dt>
<dd><p>Test if argument is a real vector</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>v</strong> – value to test</p></li>
<li><p><strong>dim</strong> (<em>int</em><em> or </em><em>None</em>) – required dimension</p></li>
</ul>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>whether value is a valid vector</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">isvector(vec)</span></code> is <code class="docutils literal notranslate"><span class="pre">True</span></code> if <code class="docutils literal notranslate"><span class="pre">vec</span></code> is a vector, ie. any of:</p>
<blockquote>
<div><ul class="simple">
<li><p>a Python native int or float, a 1-vector</p></li>
<li><p>Python native list or tuple</p></li>
<li><p>numPy real 1D array, ie. shape=(N,)</p></li>
<li><p>numPy real 2D array with a singleton dimension, ie. shape=(1,N)
or (N,1)</p></li>
</ul>
</div></blockquote>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">isvector(vec,</span> <span class="pre">N)</span></code> as above but must also be an <code class="docutils literal notranslate"><span class="pre">N</span></code>-element vector.</p></li>
</ul>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">from</span> <span class="nn">spatialmath.base</span> <span class="kn">import</span> <span class="n">isvector</span>
<span class="gp">>>> </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="gp">>>> </span><span class="n">isvector</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">])</span> <span class="c1"># list</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">isvector</span><span class="p">((</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">))</span> <span class="c1"># tuple</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">isvector</span><span class="p">(</span><span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">,</span><span class="mi">3</span><span class="p">])</span> <span class="c1"># numpy array</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">isvector</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span> <span class="c1"># scalar</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">isvector</span><span class="p">([</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">],</span> <span class="mi">3</span><span class="p">)</span> <span class="c1"># list</span>
<span class="go">False</span>
</pre></div>
</div>
<dl class="field-list simple">
<dt class="field-odd">Seealso</dt>
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.base.argcheck.getvector" title="spatialmath.base.argcheck.getvector"><code class="xref py py-func docutils literal notranslate"><span class="pre">getvector()</span></code></a>, <a class="reference internal" href="#spatialmath.base.argcheck.assertvector" title="spatialmath.base.argcheck.assertvector"><code class="xref py py-func docutils literal notranslate"><span class="pre">assertvector()</span></code></a></p>
</dd>
</dl>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.isvectorlist">
<span class="sig-name descname"><span class="pre">isvectorlist</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">x</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">n</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#isvectorlist"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.isvectorlist" title="Permalink to this definition"></a></dt>
<dd><p>Test if argument is a list of vectors</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>x</strong> – the value to test</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>True if the argument is a list of n-vectors</p>
</dd>
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
<p><code class="docutils literal notranslate"><span class="pre">isvectorlist(x,</span> <span class="pre">n)</span></code> is <code class="docutils literal notranslate"><span class="pre">True</span></code> if <code class="docutils literal notranslate"><span class="pre">x</span></code> is a list or tuple of
1D numPy arrays of shape=(n,).</p>
<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">>>> </span><span class="kn">from</span> <span class="nn">spatialmath.base</span> <span class="kn">import</span> <span class="n">isvectorlist</span>
<span class="gp">>>> </span><span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="gp">>>> </span><span class="n">isvectorlist</span><span class="p">([</span><span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">3</span><span class="p">,</span><span class="mi">4</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">5</span><span class="p">,</span><span class="mi">6</span><span class="p">]],</span> <span class="mi">2</span><span class="p">)</span>
<span class="go">True</span>
<span class="gp">>>> </span><span class="n">isvectorlist</span><span class="p">([(</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">),</span> <span class="p">(</span><span class="mi">3</span><span class="p">,</span><span class="mi">4</span><span class="p">),</span> <span class="p">(</span><span class="mi">5</span><span class="p">,</span><span class="mi">6</span><span class="p">)],</span> <span class="mi">2</span><span class="p">)</span>
<span class="go">False</span>
<span class="gp">>>> </span><span class="n">isvectorlist</span><span class="p">([</span><span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">1</span><span class="p">,</span><span class="mi">2</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">3</span><span class="p">,</span><span class="mi">4</span><span class="p">],</span> <span class="n">np</span><span class="o">.</span><span class="n">r_</span><span class="p">[</span><span class="mi">5</span><span class="p">,</span><span class="mi">6</span><span class="p">,</span><span class="mi">7</span><span class="p">]],</span> <span class="mi">2</span><span class="p">)</span>
<span class="go">False</span>
</pre></div>
</div>
</dd></dl>
<dl class="py function">
<dt class="sig sig-object py" id="spatialmath.base.argcheck.verifymatrix">
<span class="sig-name descname"><span class="pre">verifymatrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">m</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">shape</span></span></em><span class="sig-paren">)</span><a class="reference internal" href="_modules/spatialmath/base/argcheck.html#verifymatrix"><span class="viewcode-link"><span class="pre">[source]</span></span></a><a class="headerlink" href="#spatialmath.base.argcheck.verifymatrix" title="Permalink to this definition"></a></dt>
<dd><p>Assert that argument is array of specified size</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>m</strong> – value to be tested</p></li>
<li><p><strong>shape</strong> (<em>2-tuple</em>) – desired shape of value</p></li>
</ul>
</dd>
<dt class="field-even">Raises</dt>
<dd class="field-even"><ul class="simple">
<li><p><strong>TypeError</strong> – argument is not a NumPy array</p></li>
<li><p><strong>ValueError</strong> – argument has incorrect shape</p></li>
</ul>
</dd>
</dl>
<p>Raises an exception if the argument <code class="docutils literal notranslate"><span class="pre">m</span></code> is not a NumPy array of the
specified shape.</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>Unlike <code class="docutils literal notranslate"><span class="pre">assertmatrix</span></code> the specified shape cannot have wildcard
dimensions.</p>
</div>
<dl class="field-list simple">
<dt class="field-odd">Seealso</dt>
<dd class="field-odd"><p><a class="reference internal" href="#spatialmath.base.argcheck.assertmatrix" title="spatialmath.base.argcheck.assertmatrix"><code class="xref py py-func docutils literal notranslate"><span class="pre">assertmatrix()</span></code></a>,:func:<cite>getmatrix</cite>, <a class="reference internal" href="#spatialmath.base.argcheck.ismatrix" title="spatialmath.base.argcheck.ismatrix"><code class="xref py py-func docutils literal notranslate"><span class="pre">ismatrix()</span></code></a></p>
</dd>
</dl>
</dd></dl>
</section>
</div>
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