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[DO NOT MERGE] Fix frame system serialize main #5212

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[DO NOT MERGE] Fix frame system serialize main #5212

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bebe4f6
fix bug in frame system serialization
gvaradarajan Jul 30, 2025
56d13bf
fixes, more tests incoming
gvaradarajan Jul 31, 2025
28d7529
missed a spot
gvaradarajan Jul 31, 2025
81104f6
add other frame types to test + fixes
gvaradarajan Aug 1, 2025
1aa713b
oops
gvaradarajan Aug 1, 2025
2c1bbf7
fix not allowing lack of model config
gvaradarajan Aug 4, 2025
ead5423
add roundtrip tests for all frame implementers
gvaradarajan Aug 4, 2025
cfb1727
oops
gvaradarajan Aug 4, 2025
bf376b0
use explicit comparisons over ShouldResemble
gvaradarajan Aug 4, 2025
f5af70d
implement better equality checks
gvaradarajan Aug 4, 2025
6b49d8d
lint
gvaradarajan Aug 5, 2025
e4c8551
some missed cleanup
gvaradarajan Aug 5, 2025
8cbcb14
changes
gvaradarajan Aug 5, 2025
0c4145d
add configurable epsilon
gvaradarajan Aug 5, 2025
6c24169
pass Limits by value
gvaradarajan Aug 5, 2025
49b4f25
implement nil checks
gvaradarajan Aug 5, 2025
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use explicit comparisons over ShouldResemble
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@gvaradarajan @nicksanford
gvaradarajan authored and nicksanford committed Aug 6, 2025
commit bf376b05c49690465f3acbd8d8f346035cee4bbd
37 changes: 30 additions & 7 deletions referenceframe/frame_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -293,7 +293,15 @@ func TestFrameToJSONAndBack(t *testing.T) {
static2, err := jsonToFrame(json.RawMessage(jsonData))
test.That(t, err, test.ShouldBeNil)

test.That(t, static, test.ShouldResemble, static2)
test.That(t, static.Name(), test.ShouldResemble, static2.Name())

staticF, ok := static.(*staticFrame)
test.That(t, ok, test.ShouldBeTrue)

staticF2, ok := static2.(*staticFrame)
test.That(t, ok, test.ShouldBeTrue)

test.That(t, spatial.PoseAlmostCoincident(staticF.transform, staticF2.transform), test.ShouldBeTrue)

staticFrame, ok := static.(*staticFrame)
test.That(t, ok, test.ShouldBeTrue)
Expand All @@ -302,10 +310,13 @@ func TestFrameToJSONAndBack(t *testing.T) {
jsonData, err = frameToJSON(&tailGeoFrame)
test.That(t, err, test.ShouldBeNil)

tailGeoFrame2, err := jsonToFrame(json.RawMessage(jsonData))
tailGeoFrameParsed, err := jsonToFrame(json.RawMessage(jsonData))
test.That(t, err, test.ShouldBeNil)
tailGeoFrame2, ok := tailGeoFrameParsed.(*tailGeometryStaticFrame)
test.That(t, ok, test.ShouldBeTrue)

test.That(t, &tailGeoFrame, test.ShouldResemble, tailGeoFrame2)
test.That(t, tailGeoFrame.Name(), test.ShouldResemble, tailGeoFrame2.Name())
test.That(t, spatial.PoseAlmostEqual(tailGeoFrame.transform, tailGeoFrame2.transform), test.ShouldBeTrue)

// translational frame
tF, err := NewTranslationalFrame("foo", r3.Vector{X: 1, Y: 0, Z: 0}, Limit{1, 2})
Expand All @@ -317,7 +328,14 @@ func TestFrameToJSONAndBack(t *testing.T) {
tF2, err := jsonToFrame(json.RawMessage(jsonData))
test.That(t, err, test.ShouldBeNil)

test.That(t, tF, test.ShouldResemble, tF2)
tFrame1, ok := tF.(*translationalFrame)
test.That(t, ok, test.ShouldBeTrue)

tFrame2, ok := tF2.(*translationalFrame)
test.That(t, ok, test.ShouldBeTrue)

test.That(t, tFrame1.Name(), test.ShouldResemble, tFrame2.Name())
test.That(t, spatial.R3VectorAlmostEqual(tFrame1.transAxis, tFrame2.transAxis, 1e-8), test.ShouldBeTrue)

// rotational frame
rot, err := NewRotationalFrame("foo", spatial.R4AA{Theta: 3.7, RX: 2.1, RY: 3.1, RZ: 4.1}, Limit{5, 6})
Expand All @@ -329,13 +347,18 @@ func TestFrameToJSONAndBack(t *testing.T) {
rot2, err := jsonToFrame(json.RawMessage(jsonData))
test.That(t, err, test.ShouldBeNil)

test.That(t, rot, test.ShouldResemble, rot2)
rotF, ok := rot.(*rotationalFrame)
test.That(t, ok, test.ShouldBeTrue)

rotF2, ok := rot2.(*rotationalFrame)
test.That(t, ok, test.ShouldBeTrue)

test.That(t, rotF.Name(), test.ShouldResemble, rotF2.Name())
test.That(t, spatial.R3VectorAlmostEqual(rotF.rotAxis, rotF2.rotAxis, 1e-8), test.ShouldBeTrue)

// SimpleModel
simpleModel, err := ParseModelJSONFile(rdkutils.ResolveFile("components/arm/example_kinematics/xarm6_kinematics_test.json"), "")
test.That(t, err, test.ShouldBeNil)
// simpleModel, ok := m.(*SimpleModel)
// test.That(t, ok, test.ShouldBeTrue)

jsonData, err = frameToJSON(simpleModel)
test.That(t, err, test.ShouldBeNil)
Expand Down