Merge branch 'master' into macos

tesseract-robotics · Dec 14, 2023 · a0391b4 · a0391b4
2 parents 2d72dca + 788feaa
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diff --git a/tesseract_command_language/CHANGELOG.rst b/tesseract_command_language/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package tesseract_command_language
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.21.5 (2023-12-13)
+-------------------
+
 0.21.4 (2023-11-21)
 -------------------
 * Add clear method to profile dictionary

diff --git a/tesseract_command_language/package.xml b/tesseract_command_language/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>tesseract_command_language</name>
-  <version>0.21.4</version>
+  <version>0.21.5</version>
   <description>The Tesseract Command Language package</description>
   <author email="[email protected]">Levi Armstrong</author>
   <maintainer email="[email protected]">Levi Armstrong</maintainer>

diff --git a/tesseract_examples/CHANGELOG.rst b/tesseract_examples/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package tesseract_examples
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.21.5 (2023-12-13)
+-------------------
+
 0.21.4 (2023-11-21)
 -------------------
 

diff --git a/tesseract_examples/package.xml b/tesseract_examples/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>tesseract_examples</name>
-  <version>0.21.4</version>
+  <version>0.21.5</version>
   <description>This package contains examples related to this trajopt_ros repository.</description>
 
   <maintainer email="[email protected]">Levi Armstrong</maintainer>

diff --git a/tesseract_motion_planners/CHANGELOG.rst b/tesseract_motion_planners/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package tesseract_motion_planners
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.21.5 (2023-12-13)
+-------------------
+
 0.21.4 (2023-11-21)
 -------------------
 

diff --git a/tesseract_motion_planners/package.xml b/tesseract_motion_planners/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>tesseract_motion_planners</name>
-  <version>0.21.4</version>
+  <version>0.21.5</version>
   <description>This contains tesseract planners</description>
 
   <maintainer email="[email protected]">Levi Armstrong</maintainer>

diff --git a/tesseract_task_composer/CHANGELOG.rst b/tesseract_task_composer/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package tesseract_task_composer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.21.5 (2023-12-13)
+-------------------
+* Fix TaskComposerProblem serialization and equal operator
+* Contributors: Levi Armstrong
+
 0.21.4 (2023-11-21)
 -------------------
 

diff --git a/tesseract_task_composer/core/src/task_composer_problem.cpp b/tesseract_task_composer/core/src/task_composer_problem.cpp
@@ -46,7 +46,7 @@ bool TaskComposerProblem::operator==(const TaskComposerProblem& rhs) const
   bool equal = true;
   equal &= name == rhs.name;
   equal &= dotgraph == rhs.dotgraph;
-  equal &= input == input;
+  equal &= input == rhs.input;
   return equal;
 }
 
@@ -57,7 +57,7 @@ void TaskComposerProblem::serialize(Archive& ar, const unsigned int /*version*/)
 {
   ar& boost::serialization::make_nvp("name", name);
   ar& boost::serialization::make_nvp("dotgraph", dotgraph);
-  ar& boost::serialization::make_nvp("input", dotgraph);
+  ar& boost::serialization::make_nvp("input", input);
 }
 
 }  // namespace tesseract_planning

diff --git a/tesseract_task_composer/package.xml b/tesseract_task_composer/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>tesseract_task_composer</name>
-  <version>0.21.4</version>
+  <version>0.21.5</version>
   <description>The Tesseract Task Composer package</description>
   <author email="[email protected]">Levi Armstrong</author>
   <maintainer email="[email protected]">Levi Armstrong</maintainer>

diff --git a/tesseract_task_composer/test/tesseract_task_composer_core_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_core_unit.cpp
@@ -140,6 +140,17 @@ TEST(TesseractTaskComposerCoreUnit, TaskComposerProblemTests)  // NOLINT
   auto problem = std::make_unique<TaskComposerProblem>();
   EXPECT_EQ(problem->name, "unset");
   EXPECT_FALSE(problem->dotgraph);
+  EXPECT_TRUE(problem->input.isNull());
+
+  tesseract_common::JointState joint_state;
+  joint_state.joint_names = { "joint_1", "joint_2", "joint_3" };
+  joint_state.position = Eigen::VectorXd::Constant(3, 5);
+  joint_state.velocity = Eigen::VectorXd::Constant(3, 6);
+  joint_state.acceleration = Eigen::VectorXd::Constant(3, 7);
+  joint_state.effort = Eigen::VectorXd::Constant(3, 8);
+  joint_state.time = 100;
+
+  problem->input = joint_state;
 
   // Serialization
   test_suite::runSerializationPointerTest(problem, "TaskComposerProblemTests");

diff --git a/tesseract_time_parameterization/CHANGELOG.rst b/tesseract_time_parameterization/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package tesseract_time_parameterization
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.21.5 (2023-12-13)
+-------------------
+
 0.21.4 (2023-11-21)
 -------------------
 

diff --git a/tesseract_time_parameterization/package.xml b/tesseract_time_parameterization/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>tesseract_time_parameterization</name>
-  <version>0.21.4</version>
+  <version>0.21.5</version>
   <description>The Tesseract Time Parameterization package</description>
   <author email="[email protected]">Levi Armstrong</author>
   <maintainer email="[email protected]">Levi Armstrong</maintainer>