Enhance ArrayLike class with length, representation, and list conversion methods; update ArrayLikeFactory to accept variable arguments and define an abstract array method

Author: Giulero

src/adam/core/spatial_math.py

@@ -64,12 +64,21 @@ def T(self):
         """
         pass
 
+    def __len__(self):
+        return len(self.array)
+
+    def __repr__(self):
+        return self.array.__repr__()
+
+    def as_list(self):
+        for i in range(len(self.array)):
+            yield self.array[i]
 
 class ArrayLikeFactory(abc.ABC):
     """Abstract class for a generic Array wrapper. Every method should be implemented for every data type."""
 
     @abc.abstractmethod
-    def zeros(self, x: npt.ArrayLike) -> npt.ArrayLike:
+    def zeros(self, *x: npt.ArrayLike) -> npt.ArrayLike:
         """
         Args:
             x (npt.ArrayLike): matrix dimension
@@ -90,6 +99,17 @@ def eye(self, x: npt.ArrayLike) -> npt.ArrayLike:
         """
         pass
 
+    @abc.abstractmethod
+    def array(self, x: npt.ArrayLike) -> npt.ArrayLike:
+        """
+        Args:
+            x (npt.ArrayLike): array
+
+        Returns:
+            npt.ArrayLike: array
+        """
+        pass
+
 
 class SpatialMath:
     """Class implementing the main geometric functions used for computing rigid-body algorithm