fix: accept list as rot_vec argument in Rotation constructor

Author: dslemusp

CHANGELOG.md

@@ -1,5 +1,9 @@
 # Change Log
 
+## 0.3.4
+### Fix
+- Fix bug accepting `rot_vec` argument in `Rotation` as list.
+
 ## 0.3.3
 ### Add
 - Update Rotation type to include support for definition using either quaternions, angle axis or matrix.

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "research-ktree"
-version = "0.3.3"
+version = "0.3.4"
 description = "Research python kinematic library"
 authors = ["Daniel Lemus <dlemus@rocsys.com>"]
 readme = "README.md"

src/ktree/k_types.py

@@ -242,6 +242,11 @@ class Rotation(BaseModel):
     def _rpy_validator(cls, rpy_value: NDArray[np.float_] | list[float] | None, info: ValidationInfo) -> NDArray:
         return _validate_list(rpy_value) if rpy_value is not None else rpy_value
 
+    @field_validator("rot_vec", mode="before")
+    @classmethod
+    def _rot_vec_validator(cls, rot_vec: NDArray[np.float_] | list[float] | None, info: ValidationInfo) -> NDArray:
+        return _validate_list(rot_vec) if rot_vec is not None else rot_vec
+
     @model_validator(mode="wrap")  # type: ignore[misc]
     def _validator(self, handler: ValidatorFunctionWrapHandler) -> Self:
         if isinstance(self, dict):

test/test_types.py

@@ -59,13 +59,16 @@ def test_rotation() -> None:
         assert np.allclose(r.quaternion.vector, baseR.as_quat())
         assert np.allclose(r.rot_vec, baseR.as_rotvec())
 
-        r = Rotation()
-        r.matrix = R.from_euler("xyz", [rz, ry, rx], degrees=False).as_matrix()
+        r = Rotation(matrix=R.from_euler("xyz", [rz, ry, rx], degrees=False).as_matrix())
 
         assert np.isclose(r.rx, rz)
         assert np.isclose(r.ry, ry)
         assert np.isclose(r.rz, rx)
 
+        r = Rotation(rot_vec=[0.1, 0.2, 0.3])
+
+        assert np.allclose(r.rot_vec, [0.1, 0.2, 0.3])
+
     assert Rotation(rpy=[1.2, 1.3, 1.4]) == Rotation(rpy=[1.2, 1.3, 1.4])