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Preserve spatial vector sequences in copy constructors #299

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Preserve spatial vector sequences in copy constructors #299

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65a45fe
Preserve all values when copying spatial vector sequences
kaushikgunasekaren Nov 12, 2026
369ecc0
Implement tests for copy constructor behavior
kaushikgunasekaren Nov 12, 2026
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2 changes: 1 addition & 1 deletion spatialmath/spatialvector.py
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Original file line number Diff line number Diff line change
Expand Up @@ -100,7 +100,7 @@ def __init__(self, value):
elif base.isvector(value, 3):
self.data = [np.r_[value, 0, 0, 0]]
elif isinstance(value, SpatialVector):
self.data = [value.A]
self.data = list(value.data)
elif base.ismatrix(value, (6, None)):
self.data = [x for x in value.T]
elif not super().arghandler(value):
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24 changes: 24 additions & 0 deletions tests/test_spatialvector.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,30 @@


class TestSpatialVector(unittest.TestCase):
def test_copy_constructor_preserves_sequence(self):
classes = (SpatialVelocity, SpatialAcceleration, SpatialForce, SpatialMomentum)
for cls in classes:
for count in (0, 1, 2, 4):
with self.subTest(cls=cls.__name__, count=count):
values = np.arange(6 * count, dtype=float).reshape(6, count)
original = cls(values[:, 0] if count == 1 else values)
copied = cls(original)
self.assertEqual(len(copied), count)
self.assertEqual(copied.shape, (6,))
for i in range(count):
nt.assert_array_equal(copied[i].A, values[:, i])
self.assertEqual(str(copied), str(original))
copied.append(cls(np.ones(6)))
self.assertEqual(len(original), count)
self.assertEqual(len(copied), count + 1)

def test_copy_constructor_cross_subclass(self):
original = SpatialVelocity(np.arange(18).reshape(6, 3))
copied = SpatialAcceleration(original)
self.assertEqual(len(copied), 3)
for i in range(3):
nt.assert_array_equal(copied[i].A, original[i].A)

def test_list_powers(self):
x = SpatialVelocity.Empty()
self.assertEqual(len(x), 0)
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