Allow nested lists to be passed into genned code #263
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This is done by adding `sym.util.check_matrix_size_and_numpify` and calling it on the matrix inputs (when `use_numba=False` and `reshape_vectors=True`). This function converts list arguments to ndarrays and checks that the shape is what is expected. Note, numpy only raises a deprecation warning if a ragged nested list is passed in. If `use_numba=True`, just performs an inline check on the shape of the input, raising an `IndexError` if it is not what was expected. It never performs a reshape on matrix arguments. Also adds the type alias `sym.util.MatrixType` and `sym.util.VectorType`. This is to make the type annotations less verbose.
bradley-solliday-skydio
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aaron-skydio,
hayk-skydio and
ryan-skydio
aaron-skydio
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Nov 4, 2022
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aaron-skydio
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Just one comment about the type aliases, otherwise looks good
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typing is not a builtin package in python 2. We could add it as a depenency of sym or something, but that seems like a bummer. I'm not actually sure what a good approach would be here - maybe @eric-skydio has ideas? For context we have this mildly-complicated type that we'd like an alias for, but ideally we don't add a runtime dependency on typing from this module (sym)
Noting that the import is actually added here, although it isn't necessary at runtime in that PR.
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This is done by adding
sym.util.check_matrix_size_and_numpifyand calling it on the matrix inputs (whenuse_numba=Falseandreshape_vectors=True). This function converts list arguments to ndarrays and checks that the shape is what is expected.Note, numpy only raises a deprecation warning if a ragged nested list is passed in.
If
use_numba=True, just performs an inline check on the shape of the input, raising anIndexErrorif it is not what was expected. It never performs a reshape on matrix arguments.Also adds the type alias
sym.util.MatrixTypeandsym.util.VectorType. This is to make the type annotations less verbose.