From 6326806cd44f5b957ebe37cd9493dae4c135935d Mon Sep 17 00:00:00 2001 From: Levi Armstrong Date: Wed, 13 Dec 2023 13:51:59 -0600 Subject: [PATCH 1/3] Fix TaskComposerProblem serialization and equal operator --- .../core/src/task_composer_problem.cpp | 4 ++-- .../test/tesseract_task_composer_core_unit.cpp | 11 +++++++++++ 2 files changed, 13 insertions(+), 2 deletions(-) diff --git a/tesseract_task_composer/core/src/task_composer_problem.cpp b/tesseract_task_composer/core/src/task_composer_problem.cpp index 341c716cdf6..16bb19863a5 100644 --- 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/test/tesseract_task_composer_core_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_core_unit.cpp index 2db6d776ab8..be6e6cf933e 100644 --- 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(); 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"); From 26af5b0447cd9247eb30b7387eb14092fa784a72 Mon Sep 17 00:00:00 2001 From: Levi Armstrong Date: Wed, 13 Dec 2023 15:22:56 -0600 Subject: [PATCH 2/3] Update changelog --- tesseract_command_language/CHANGELOG.rst | 3 +++ tesseract_examples/CHANGELOG.rst | 3 +++ tesseract_motion_planners/CHANGELOG.rst | 3 +++ tesseract_task_composer/CHANGELOG.rst | 5 +++++ tesseract_time_parameterization/CHANGELOG.rst | 3 +++ 5 files changed, 17 insertions(+) diff --git a/tesseract_command_language/CHANGELOG.rst b/tesseract_command_language/CHANGELOG.rst index ae238c341fc..aef5acc069e 100644 --- a/tesseract_command_language/CHANGELOG.rst +++ b/tesseract_command_language/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tesseract_command_language ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.21.4 (2023-11-21) ------------------- * Add clear method to profile dictionary diff --git a/tesseract_examples/CHANGELOG.rst b/tesseract_examples/CHANGELOG.rst index f184b69ba8a..316d61b7db4 100644 --- a/tesseract_examples/CHANGELOG.rst +++ b/tesseract_examples/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tesseract_examples ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.21.4 (2023-11-21) ------------------- diff --git a/tesseract_motion_planners/CHANGELOG.rst b/tesseract_motion_planners/CHANGELOG.rst index 6849e5adf44..7911275c46b 100644 --- a/tesseract_motion_planners/CHANGELOG.rst +++ b/tesseract_motion_planners/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tesseract_motion_planners ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.21.4 (2023-11-21) ------------------- diff --git a/tesseract_task_composer/CHANGELOG.rst b/tesseract_task_composer/CHANGELOG.rst index 85cc3a97237..7da36e7d063 100644 --- a/tesseract_task_composer/CHANGELOG.rst +++ b/tesseract_task_composer/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package tesseract_task_composer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Fix TaskComposerProblem serialization and equal operator +* Contributors: Levi Armstrong + 0.21.4 (2023-11-21) ------------------- diff --git a/tesseract_time_parameterization/CHANGELOG.rst b/tesseract_time_parameterization/CHANGELOG.rst index b20b527affe..3b3dc7b2e5b 100644 --- a/tesseract_time_parameterization/CHANGELOG.rst +++ b/tesseract_time_parameterization/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package tesseract_time_parameterization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.21.4 (2023-11-21) ------------------- From 788feaaac574f7a8043ef0f092c7017bc796735e Mon Sep 17 00:00:00 2001 From: Levi Armstrong Date: Wed, 13 Dec 2023 15:24:05 -0600 Subject: [PATCH 3/3] 0.21.5 --- tesseract_command_language/CHANGELOG.rst | 4 ++-- tesseract_command_language/package.xml | 2 +- tesseract_examples/CHANGELOG.rst | 4 ++-- tesseract_examples/package.xml | 2 +- tesseract_motion_planners/CHANGELOG.rst | 4 ++-- tesseract_motion_planners/package.xml | 2 +- tesseract_task_composer/CHANGELOG.rst | 4 ++-- tesseract_task_composer/package.xml | 2 +- tesseract_time_parameterization/CHANGELOG.rst | 4 ++-- tesseract_time_parameterization/package.xml | 2 +- 10 files changed, 15 insertions(+), 15 deletions(-) diff --git a/tesseract_command_language/CHANGELOG.rst b/tesseract_command_language/CHANGELOG.rst index aef5acc069e..5d13c9de027 100644 --- a/tesseract_command_language/CHANGELOG.rst +++ b/tesseract_command_language/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tesseract_command_language ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.21.5 (2023-12-13) +------------------- 0.21.4 (2023-11-21) ------------------- diff --git a/tesseract_command_language/package.xml b/tesseract_command_language/package.xml index 7499541baf0..378480de4e2 100644 --- a/tesseract_command_language/package.xml +++ b/tesseract_command_language/package.xml @@ -1,7 +1,7 @@ tesseract_command_language - 0.21.4 + 0.21.5 The Tesseract Command Language package Levi Armstrong Levi Armstrong diff --git a/tesseract_examples/CHANGELOG.rst b/tesseract_examples/CHANGELOG.rst index 316d61b7db4..747cbc5078b 100644 --- a/tesseract_examples/CHANGELOG.rst +++ b/tesseract_examples/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tesseract_examples ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.21.5 (2023-12-13) +------------------- 0.21.4 (2023-11-21) ------------------- diff --git a/tesseract_examples/package.xml b/tesseract_examples/package.xml index 547bb98e5a6..32ca750756b 100644 --- a/tesseract_examples/package.xml +++ b/tesseract_examples/package.xml @@ -1,7 +1,7 @@ tesseract_examples - 0.21.4 + 0.21.5 This package contains examples related to this trajopt_ros repository. Levi Armstrong diff --git a/tesseract_motion_planners/CHANGELOG.rst b/tesseract_motion_planners/CHANGELOG.rst index 7911275c46b..2d5486579c5 100644 --- a/tesseract_motion_planners/CHANGELOG.rst +++ b/tesseract_motion_planners/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tesseract_motion_planners ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +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 index 9dfc32f24d2..c5d25fbf867 100644 --- a/tesseract_motion_planners/package.xml +++ b/tesseract_motion_planners/package.xml @@ -1,7 +1,7 @@ tesseract_motion_planners - 0.21.4 + 0.21.5 This contains tesseract planners Levi Armstrong diff --git a/tesseract_task_composer/CHANGELOG.rst b/tesseract_task_composer/CHANGELOG.rst index 7da36e7d063..baa5b8252a5 100644 --- a/tesseract_task_composer/CHANGELOG.rst +++ b/tesseract_task_composer/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tesseract_task_composer ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.21.5 (2023-12-13) +------------------- * Fix TaskComposerProblem serialization and equal operator * Contributors: Levi Armstrong diff --git a/tesseract_task_composer/package.xml b/tesseract_task_composer/package.xml index 0253e2cd469..e6949f0e642 100644 --- a/tesseract_task_composer/package.xml +++ b/tesseract_task_composer/package.xml @@ -1,7 +1,7 @@ tesseract_task_composer - 0.21.4 + 0.21.5 The Tesseract Task Composer package Levi Armstrong Levi Armstrong diff --git a/tesseract_time_parameterization/CHANGELOG.rst b/tesseract_time_parameterization/CHANGELOG.rst index 3b3dc7b2e5b..ddb7d41508e 100644 --- a/tesseract_time_parameterization/CHANGELOG.rst +++ b/tesseract_time_parameterization/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package tesseract_time_parameterization ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +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 index dc75041d66e..962989e2115 100644 --- a/tesseract_time_parameterization/package.xml +++ b/tesseract_time_parameterization/package.xml @@ -1,7 +1,7 @@ tesseract_time_parameterization - 0.21.4 + 0.21.5 The Tesseract Time Parameterization package Levi Armstrong Levi Armstrong