From d6f403b698b2e5f7ffb6987a8593d6415131ac95 Mon Sep 17 00:00:00 2001
From: Michael Pickett <mpickett@theaiinstitute.com>
Date: Thu, 2 Nov 2023 13:37:57 -0400
Subject: [PATCH 1/3] Check fix for eulervec and tr2angvec

---
 spatialmath/base/transforms3d.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/spatialmath/base/transforms3d.py b/spatialmath/base/transforms3d.py
index ff555b09..81e05069 100644
--- a/spatialmath/base/transforms3d.py
+++ b/spatialmath/base/transforms3d.py
@@ -1023,7 +1023,7 @@ def tr2angvec(
     if not isrot(R, check=check):
         raise ValueError("argument is not SO(3)")
 
-    v = vex(trlog(cast(SO3Array, R)))
+    v = vex(trlog(cast(SO3Array, R), check=check))
 
     try:
         theta = norm(v)

From 5ea9d991a60d85d01ac2c34a7e642b35d6b25947 Mon Sep 17 00:00:00 2001
From: Michael Pickett <mpickett@theaiinstitute.com>
Date: Thu, 2 Nov 2023 16:31:29 -0400
Subject: [PATCH 2/3] Unit test

---
 tests/test_transforms3d.py | 50 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100755 tests/test_transforms3d.py

diff --git a/tests/test_transforms3d.py b/tests/test_transforms3d.py
new file mode 100755
index 00000000..46aa9b35
--- /dev/null
+++ b/tests/test_transforms3d.py
@@ -0,0 +1,50 @@
+import numpy.testing as nt
+import matplotlib.pyplot as plt
+import unittest
+
+"""
+we will assume that the primitives rotx,trotx, etc. all work
+"""
+from math import pi
+from spatialmath import SE3, SO3, SE2
+import numpy as np
+# from spatialmath import super_pose as sp
+from spatialmath.base import *
+from spatialmath.base import argcheck
+import spatialmath as sm
+from spatialmath.baseposematrix import BasePoseMatrix
+from spatialmath.twist import BaseTwist
+import spatialmath.base.transforms3d as t3d
+
+
+class TestTransforms3D(unittest.TestCase):
+    @classmethod
+    def tearDownClass(cls):
+        pass
+
+    def test_tr2angvec(self):
+        true_ang = 1.51
+        true_vec = np.array([0., 1., 0.])
+        eps = 1e-08
+
+        # show that tr2angvec works on true rotation matrix
+        R = SO3.Ry(true_ang)
+        ang, vec = t3d.tr2angvec(R.A, check=True)
+        nt.assert_equal(ang, true_ang)
+        nt.assert_equal(vec, true_vec)
+
+        # check a rotation matrix that should fail
+        badR = SO3.Ry(true_ang).A[:, :] + eps
+        with self.assertRaises(ValueError):
+            t3d.tr2angvec(badR, check=True)
+
+        # run without check
+        ang, vec = t3d.tr2angvec(badR, check=False)
+        nt.assert_almost_equal(ang, true_ang)
+        nt.assert_equal(vec, true_vec)
+        
+
+# ---------------------------------------------------------------------------------------#
+if __name__ == '__main__':
+    
+    unittest.main()

From a8973218d5e5acb9201baf1030a9f61b2d7c4ca8 Mon Sep 17 00:00:00 2001
From: Michael Pickett <mpickett@theaiinstitute.com>
Date: Thu, 2 Nov 2023 16:32:53 -0400
Subject: [PATCH 3/3] clean up

---
 tests/test_transforms3d.py | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/tests/test_transforms3d.py b/tests/test_transforms3d.py
index 46aa9b35..100b9a99 100755
--- a/tests/test_transforms3d.py
+++ b/tests/test_transforms3d.py
@@ -1,19 +1,11 @@
 import numpy.testing as nt
-import matplotlib.pyplot as plt
 import unittest
 
 """
 we will assume that the primitives rotx,trotx, etc. all work
 """
-from math import pi
 from spatialmath import SE3, SO3, SE2
 import numpy as np
-# from spatialmath import super_pose as sp
-from spatialmath.base import *
-from spatialmath.base import argcheck
-import spatialmath as sm
-from spatialmath.baseposematrix import BasePoseMatrix
-from spatialmath.twist import BaseTwist
 import spatialmath.base.transforms3d as t3d