Cleanup JointTrajectorySet and leverage JointTrajectory UUID

tesseract-robotics · Oct 31, 2024 · 6afa0c0 · 6afa0c0
1 parent 49290cb
commit 6afa0c0
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Showing 4 changed files with 6 additions and 7 deletions.
diff --git a/.clang-format b/.clang-format
@@ -8,7 +8,6 @@ AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortFunctionsOnASingleLine: true
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
-AllowShortLoopsOnASingleLine: false
 AlwaysBreakBeforeMultilineStrings: false
 AlwaysBreakTemplateDeclarations: true
 BinPackArguments: false

diff --git a/common/include/tesseract_qt/common/joint_trajectory_set.h b/common/include/tesseract_qt/common/joint_trajectory_set.h
@@ -42,7 +42,6 @@ struct JointTrajectoryInfo
 {
   JointState joint_state;
   JointTrajectory joint_trajectory;
-  std::string description;
 
   friend class boost::serialization::access;
   template <class Archive>

diff --git a/common/src/joint_trajectory_set.cpp b/common/src/joint_trajectory_set.cpp
@@ -46,11 +46,10 @@
 namespace tesseract_common
 {
 template <class Archive>
-void JointTrajectoryInfo::serialize(Archive& ar, const unsigned int /*version*/)
+void JointTrajectoryInfo::serialize(Archive& ar, const unsigned int version)
 {
   ar& BOOST_SERIALIZATION_NVP(joint_state);
   ar& BOOST_SERIALIZATION_NVP(joint_trajectory);
-  ar& BOOST_SERIALIZATION_NVP(description);
 }
 
 JointTrajectorySet::JointTrajectorySet(const std::unordered_map<std::string, double>& initial_state,
@@ -143,7 +142,8 @@ void JointTrajectorySet::appendJointTrajectory(const JointTrajectory& joint_traj
   JointTrajectoryInfo traj_info;
   traj_info.joint_state = getNewTrajectoryInitialState();
   traj_info.joint_trajectory.reserve(joint_trajectory.size());
-  traj_info.description = joint_trajectory.description;
+  traj_info.joint_trajectory.uuid = joint_trajectory.uuid;
+  traj_info.joint_trajectory.description = joint_trajectory.description;
 
   std::set<std::string> prune_joint_names;
   double last_time = traj_info.joint_state.time;

diff --git a/joint_trajectory/src/models/joint_trajectory_set_item.cpp b/joint_trajectory/src/models/joint_trajectory_set_item.cpp
@@ -59,8 +59,9 @@ void JointTrajectorySetItem::ctor()
   for (std::size_t i = 0; i < trajectory_set.size(); ++i)
   {
     auto& traj_info = trajectory_set[i];
-    QString description = traj_info.description.empty() ? QString("trajectory[%1]").arg(i) :
-                                                          QString::fromStdString(traj_info.description);
+    QString description = traj_info.joint_trajectory.description.empty() ?
+                              QString("trajectory[%1]").arg(i) :
+                              QString::fromStdString(traj_info.joint_trajectory.description);
     QStandardItem* trajectory_item = new JointTrajectoryInfoItem(description, traj_info);
     appendRow(trajectory_item);
   }