Added return types to key methods

Author: jhavl

spatialmath/base/argcheck.py

@@ -12,13 +12,14 @@
 # pylint: disable=invalid-name
 
 import math
+from typing import Union
 import numpy as np
 from spatialmath.base import symbolic as sym
-from numpy.typing import ArrayLike
 
 # valid scalar types
 _scalartypes = (int, np.integer, float, np.floating) + sym.symtype
 
+ArrayLike = Union[list, np.ndarray, tuple, set]
 
 def isscalar(x):
     """
@@ -452,7 +453,7 @@ def isvector(v, dim=None):
     return False
 
 
-def getunit(v, unit="rad"):
+def getunit(v, unit="rad") -> ArrayLike:
     """
     Convert value according to angular units
 

spatialmath/baseposelist.py

@@ -256,7 +256,7 @@ def _A(self):
             return self.data
 
     @property
-    def A(self):
+    def A(self) -> np.ndarray:
         """
         Array value of an instance (BasePoseList superclass method)