Merge pull request #84 from bdaiinstitute/SW-237-Fix-fallthrough-constructors-in-spatialmath

[SW-237] Raises error if a number of arguments besides 1 and 3 are passed in to SE3 constructors

Author: myeatman-bdai

spatialmath/pose3d.py

@@ -976,6 +976,9 @@ def __init__(self, x=None, y=None, z=None, *, check=True):
             # SE3(x, y, z)
             self.data = [smb.transl(x, y, z)]
 
+        else:
+            raise ValueError("Invalid arguments. See documentation for correct format.")
+
     @staticmethod
     def _identity() -> NDArray:
         return np.eye(4)

tests/test_pose3d.py

@@ -833,6 +833,12 @@ def test_constructor(self):
         self.assertEqual(T.A.shape, (4,4))
         nt.assert_equal(T.t, [1, 2, 0])
 
+        # Bad number of arguments
+        with self.assertRaises(ValueError):
+            T = SE3(1.0, 0.0)
+        with self.assertRaises(TypeError):
+            T = SE3(1.0, 0.0, 0.0, 0.0)
+
     def test_shape(self):
         a = SE3()
         self.assertEqual(a._A.shape, a.shape)