Fix doc string, add unit test.

Author: myeatman-bdai

spatialmath/pose2d.py

@@ -541,7 +541,7 @@ def x(self):
         ``v.x`` is the first element of the translational vector component.  If ``len(x)`` is:
 
         - 1, return an float
-        - N>1, return an ndarray with shape=(N,1)
+        - N>1, return an ndarray with shape=(N,)
         """
         if len(self) == 1:
             return self.A[0, 2]
@@ -561,7 +561,7 @@ def y(self):
         ``v.y`` is the second element of the translational vector component.  If ``len(x)`` is:
 
         - 1, return an float
-        - N>1, return an ndarray with shape=(N,1)
+        - N>1, return an ndarray with shape=(N,)
         """
         if len(self) == 1:
             return self.A[1, 2]

spatialmath/pose3d.py

@@ -1044,7 +1044,7 @@ def x(self) -> float:
         :return: first element of translational component of SE(3)
         :rtype: float
 
-        If ``len(v) > 1``, return an array with shape=(N,1).
+        If ``len(v) > 1``, return an array with shape=(N,).
 
         Example:
 
@@ -1077,7 +1077,7 @@ def y(self) -> float:
         :return: second element of translational component of SE(3)
         :rtype: float
 
-        If ``len(v) > 1``, return an array with shape=(N,1).
+        If ``len(v) > 1``, return an array with shape=(N,).
 
         Example:
 
@@ -1110,7 +1110,7 @@ def z(self) -> float:
         :return: third element of translational component of SE(3)
         :rtype: float
 
-        If ``len(v) > 1``, return an array with shape=(N,1).
+        If ``len(v) > 1``, return an array with shape=(N,).
 
         Example:
 

tests/test_pose3d.py

@@ -793,6 +793,16 @@ def test_constructor(self):
         nt.assert_equal(T.y, t[1])
         nt.assert_equal(T.z, t[2])
 
+        TT = SE3([T, T, T])
+        desired_shape = (3,)
+        nt.assert_equal(TT.x.shape, desired_shape)
+        nt.assert_equal(TT.y.shape, desired_shape)
+        nt.assert_equal(TT.z.shape, desired_shape)
+
+        ones = np.ones(desired_shape)
+        nt.assert_equal(TT.x, ones*t[0])
+        nt.assert_equal(TT.y, ones*t[1])
+        nt.assert_equal(TT.z, ones*t[2])
 
         # copy constructor
         R = SE3.Rx(pi / 2)