Import self from typing extensions for compatability

spatialmath/baseposelist.py

@@ -9,6 +9,7 @@
 import copy
 import numpy as np
 from spatialmath.base.argcheck import isnumberlist, isscalar
+from typing_extensions import Self
 from spatialmath.base.types import *
 
 _numtypes = (int, np.int64, float, np.float64)
@@ -667,11 +668,12 @@ def unop(
         else:
             return [op(x) for x in self.data]
 
+
 if __name__ == "__main__":
     from spatialmath import SO3, SO2
 
-    R = SO3([[1,0,0],[0,1,0],[0,0,1]])
+    R = SO3([[1, 0, 0], [0, 1, 0], [0, 0, 1]])
     print(R.eulervec())
 
     R = SO2([0.3, 0.4, 0.5])
-    pass
+    pass

spatialmath/baseposematrix.py

@@ -15,6 +15,7 @@
 #     _symbolics = False
 
 import spatialmath.base as smb
+from typing_extensions import Self
 from spatialmath.base.types import *
 from spatialmath.baseposelist import BasePoseList
 
@@ -377,7 +378,12 @@ def log(self, twist: Optional[bool] = False) -> Union[NDArray, List[NDArray]]:
         else:
             return log
 
-    def interp(self, end: Optional[bool] = None, s: Union[int, float] = None, shortest: bool = True) -> Self:
+    def interp(
+        self,
+        end: Optional[bool] = None,
+        s: Union[int, float] = None,
+        shortest: bool = True,
+    ) -> Self:
         """
         Interpolate between poses (superclass method)
 
@@ -434,13 +440,19 @@ def interp(self, end: Optional[bool] = None, s: Union[int, float] = None, shorte
         if self.N == 2:
             # SO(2) or SE(2)
             return self.__class__(
-                [smb.trinterp2(start=self.A, end=end, s=_s, shortest=shortest) for _s in s]
+                [
+                    smb.trinterp2(start=self.A, end=end, s=_s, shortest=shortest)
+                    for _s in s
+                ]
             )
 
         elif self.N == 3:
             # SO(3) or SE(3)
             return self.__class__(
-                [smb.trinterp(start=self.A, end=end, s=_s, shortest=shortest) for _s in s]
+                [
+                    smb.trinterp(start=self.A, end=end, s=_s, shortest=shortest)
+                    for _s in s
+                ]
             )
 
     def interp1(self, s: float = None) -> Self:

spatialmath/geom2d.py

@@ -7,6 +7,7 @@
 """
 from __future__ import annotations
 
+from typing_extensions import Self
 from functools import reduce
 import warnings
 import matplotlib.pyplot as plt

spatialmath/geom3d.py

@@ -22,7 +22,8 @@
 )
 from spatialmath.baseposelist import BasePoseList
 import warnings
-from typing import Union, Tuple, Optional, List, cast, overload, Self
+from typing import Union, Tuple, Optional, List, cast, overload
+from typing_extensions import Self
 from numpy.typing import NDArray
 
 _eps = np.finfo(np.float64).eps

spatialmath/pose3d.py

@@ -45,7 +45,8 @@
 from spatialmath.baseposematrix import BasePoseMatrix
 from spatialmath.pose2d import SE2
 from spatialmath.twist import Twist3
-from typing import TYPE_CHECKING, List, Tuple, Union, overload, Self, Optional, cast
+from typing import TYPE_CHECKING, List, Tuple, Union, overload, Optional, cast
+from typing_extensions import Self
 from numpy.typing import NDArray
 
 if TYPE_CHECKING: