Fixed failing serialization test

tesseract-robotics · Mar 7, 2024 · 3f9ae08 · 3f9ae08
1 parent 2670523
commit 3f9ae08
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/...tion_planners/trajopt/include/tesseract_motion_planners/trajopt/trajopt_waypoint_config.h b/...tion_planners/trajopt/include/tesseract_motion_planners/trajopt/trajopt_waypoint_config.h
@@ -59,10 +59,10 @@ struct CartesianWaypointConfig
 
   /** @brief Distance below waypoint that is allowed. Should be size = 6. First 3 elements are dx, dy, dz. The last 3
    * elements are angle axis error allowed (Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle()) */
-  Eigen::Matrix<double, 6, 1> lower_tolerance;
+  Eigen::Matrix<double, 6, 1> lower_tolerance{ Eigen::VectorXd::Zero(6) };
   /** @brief Distance above waypoint that is allowed. Should be size = 6. First 3 elements are dx, dy, dz. The last 3
    * elements are angle axis error allowed (Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle())*/
-  Eigen::Matrix<double, 6, 1> upper_tolerance;
+  Eigen::Matrix<double, 6, 1> upper_tolerance{ Eigen::VectorXd::Zero(6) };
 
   /** @brief coefficients corresponsing to dx, dy, dz, rx, ry, rz*/
   Eigen::Matrix<double, 6, 1> coeff{ Eigen::VectorXd::Constant(6, 5) };

diff --git a/tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp b/tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp
@@ -63,15 +63,15 @@ TrajOptDefaultPlanProfile::TrajOptDefaultPlanProfile(const tinyxml2::XMLElement&
 
   if (joint_cost_element != nullptr)
   {
-    const tinyxml2::XMLElement* cartesian_waypoint_config = joint_cost_element->FirstChildElement("CartesianWaypointCon"
-                                                                                                  "fig");
+    const tinyxml2::XMLElement* cartesian_waypoint_config = joint_cost_element->FirstChildElement("JointWaypointConfi"
+                                                                                                  "g");
     joint_cost_config = JointWaypointConfig(*cartesian_waypoint_config);
   }
 
   if (joint_constraint_element != nullptr)
   {
-    const tinyxml2::XMLElement* cartesian_waypoint_config = joint_constraint_element->FirstChildElement("CartesianWaypo"
-                                                                                                        "intConfig");
+    const tinyxml2::XMLElement* cartesian_waypoint_config = joint_constraint_element->FirstChildElement("JointWaypointC"
+                                                                                                        "onfig");
     joint_constraint_config = JointWaypointConfig(*cartesian_waypoint_config);
   }
 

diff --git a/tesseract_motion_planners/trajopt/src/trajopt_waypoint_config.cpp b/tesseract_motion_planners/trajopt/src/trajopt_waypoint_config.cpp
@@ -235,7 +235,7 @@ tinyxml2::XMLElement* JointWaypointConfig::toXML(tinyxml2::XMLDocument& doc) con
 {
   Eigen::IOFormat eigen_format(Eigen::StreamPrecision, Eigen::DontAlignCols, " ", " ");
 
-  tinyxml2::XMLElement* xml_cartesian_waypoint_config = doc.NewElement("CartesianWaypointConfig");
+  tinyxml2::XMLElement* xml_cartesian_waypoint_config = doc.NewElement("JointWaypointConfig");
 
   tinyxml2::XMLElement* xml_enabled = doc.NewElement("Enabled");
   xml_enabled->SetText(enabled);