Merge pull request petercorke#181 from mfkenson/ken-dev

petercorke · web-flow · commit 391afdce195e · 2021-02-28T20:15:27.000+10:00
jtraj: fix qd1 ,mstraj qdf -- ensure they are ndarray using getvector
diff --git a/roboticstoolbox/tools/trajectory.py b/roboticstoolbox/tools/trajectory.py
@@ -742,16 +742,19 @@ def mstraj(
     if isinstance(Tacc, (int, float)):
         Tacc = np.tile(Tacc, (ns,))
     else:
+        Tacc = getvector(Tacc)
         if not len(Tacc) == ns:
             raise ValueError('Tacc is wrong size')
     if qd0 is None:
         qd0 = np.zeros((nj,))
     else:
+        qd0 = getvector(qd0)
         if not len(qd0) == len(q0):
             raise ValueError('qd0 is wrong size')
     if qdf is None:
         qdf = np.zeros((nj,))
     else:
+        qdf = getvector(qdf)
         if not len(qdf) == len(q0):
             raise ValueError('qdf is wrong size')
 
