Merge pull request #290 from compas-dev/trajectory_data

Fix JointTrajectoryPoint serialization

Author: beverlylytle

CHANGELOG.rst

@@ -20,9 +20,10 @@ Unreleased
 
 **Fixed**
 
-* Fix ``repr()`` of ``ROSmsg`` class
-* Fix data type of secs and nsecs in ``Time`` ROS message
-* Fix ``CollisionObject.to_collision_meshes``
+* Fixed ``repr()`` of ``ROSmsg`` class
+* Fixed data type of secs and nsecs in ``Time`` ROS message
+* Fixed ``CollisionObject.to_collision_meshes``
+* Fixed serialization of joint names for ``compas_fab.robots.JointTrajectoryPoint``
 
 **Deprecated**
 

src/compas_fab/robots/trajectory.py

@@ -146,6 +146,7 @@ def data(self):
     def data(self, data):
         self._joint_values = FixedLengthList(data.get('joint_values') or [])
         self._joint_types = FixedLengthList(data.get('joint_types') or [])
+        self._joint_names = FixedLengthList(data.get('joint_names') or [])
         self._velocities = FixedLengthList(data.get('velocities') or [])
         self._accelerations = FixedLengthList(data.get('accelerations') or [])
         self._effort = FixedLengthList(data.get('effort') or [])

tests/robots/test_trajectory.py

@@ -7,6 +7,17 @@
 from compas_fab.robots import JointTrajectoryPoint
 
 
+@pytest.fixture
+def jtp():
+    return JointTrajectoryPoint([1.571, 0, 0, 0.262, 0, 0],
+                                [0] * 6,
+                                [3.] * 6,
+                                time_from_start=Duration(2, 1293),
+                                joint_names=['joint_1', 'joint_2', 'joint_3',
+                                             'joint_4', 'joint_5', 'joint_6']
+                                )
+
+
 @pytest.fixture
 def trj():
     p1 = JointTrajectoryPoint([1.571, 0, 0, 0.262, 0, 0],
@@ -30,10 +41,18 @@ def test_trajectory_points(trj):
     assert(len(trj.points) == 2)
 
 
+def test_joint_trajectory_point_serialization(jtp):
+    data = jtp.to_data()
+    new_jtp = JointTrajectoryPoint.from_data(data)
+    assert new_jtp.to_data() == data
+    assert new_jtp['joint_1'] == 1.571
+
+
 def test_serialization(trj):
     data = trj.to_data()
     new_trj = JointTrajectory.from_data(data)
     assert(new_trj.to_data() == data)
+    assert(new_trj.time_from_start == Duration(6, 0).seconds)
 
 
 def test_joint_trajectory_point_merged():