From c00038d564720d4335c35f0a5512b9783670058d Mon Sep 17 00:00:00 2001
From: Peter Corke <peter.i.corke@gmail.com>
Date: Mon, 13 Apr 2026 20:10:25 +1000
Subject: [PATCH] Fix breaking bug in `angvec2r`.

Changes to `getvector` behaviour mean that a scalar argument becomes
a 1D vector which breaks the Rodrigue's equation. Fix is to pass
`vector=False` to `getvector`.
---
 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 08d3be26..04f9e1b8 100644
--- a/spatialmath/base/transforms3d.py
+++ b/spatialmath/base/transforms3d.py
@@ -752,7 +752,7 @@ def angvec2r(theta: float, v: ArrayLike3, unit="rad", tol: float = 20) -> SO3Arr
     if np.linalg.norm(v) < tol * _eps:
         return np.eye(3)
 
-    θ = getunit(theta, unit)
+    θ = getunit(theta, unit, vector=False)
 
     # Rodrigue's equation