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Failing test with std::vector #958

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fa4597c
Vector test
ajtudela Apr 8, 2025
3eebc8d
Update
ajtudela Apr 8, 2025
098d7f2
FIx format
ajtudela Apr 8, 2025
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63 changes: 63 additions & 0 deletions tests/gtest_json.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,7 @@ class JsonTest : public testing::Test
{
BT::JsonExporter& exporter = BT::JsonExporter::get();
exporter.addConverter<TestTypes::Pose3D>();
exporter.addConverter<std::vector<TestTypes::Pose3D>>();
exporter.addConverter<TestTypes::Vector3D>();
exporter.addConverter<TestTypes::Quaternion3D>();

Expand Down Expand Up @@ -195,3 +196,65 @@ TEST_F(JsonTest, BlackboardInOut)
ASSERT_EQ(vect_out.y, 2.2);
ASSERT_EQ(vect_out.z, 3.3);
}

TEST_F(JsonTest, VectorOfCustomTypes)
{
BT::JsonExporter& exporter = BT::JsonExporter::get();

std::vector<TestTypes::Pose3D> poses(2);
poses[0].pos.x = 1;
poses[0].pos.y = 2;
poses[0].pos.z = 3;
poses[0].rot.w = 4;
poses[0].rot.x = 5;
poses[0].rot.y = 6;
poses[0].rot.z = 7;
poses[1].pos.x = 8;
poses[1].pos.y = 9;
poses[1].pos.z = 10;
poses[1].rot.w = 11;
poses[1].rot.x = 12;
poses[1].rot.y = 13;
poses[1].rot.z = 14;

nlohmann::json json;
exporter.toJson(BT::Any(poses), json["poses"]);

std::cout << json.dump(2) << std::endl;

ASSERT_EQ(json["poses"][0]["__type"], "Pose3D");
ASSERT_EQ(json["poses"][0]["pos"]["x"], 1);
ASSERT_EQ(json["poses"][0]["pos"]["y"], 2);
ASSERT_EQ(json["poses"][0]["pos"]["z"], 3);
ASSERT_EQ(json["poses"][0]["rot"]["w"], 4);
ASSERT_EQ(json["poses"][0]["rot"]["x"], 5);
ASSERT_EQ(json["poses"][0]["rot"]["y"], 6);
ASSERT_EQ(json["poses"][0]["rot"]["z"], 7);
ASSERT_EQ(json["poses"][1]["__type"], "Pose3D");
ASSERT_EQ(json["poses"][1]["pos"]["x"], 8);
ASSERT_EQ(json["poses"][1]["pos"]["y"], 9);
ASSERT_EQ(json["poses"][1]["pos"]["z"], 10);
ASSERT_EQ(json["poses"][1]["rot"]["w"], 11);
ASSERT_EQ(json["poses"][1]["rot"]["x"], 12);
ASSERT_EQ(json["poses"][1]["rot"]["y"], 13);
ASSERT_EQ(json["poses"][1]["rot"]["z"], 14);

// check the two-ways transform, i.e. "from_json"
auto poses2 =
exporter.fromJson(json["poses"])->first.cast<std::vector<TestTypes::Pose3D>>();
ASSERT_EQ(poses.size(), poses2.size());
ASSERT_EQ(poses[0].pos.x, poses2[0].pos.x);
ASSERT_EQ(poses[0].pos.y, poses2[0].pos.y);
ASSERT_EQ(poses[0].pos.z, poses2[0].pos.z);
ASSERT_EQ(poses[0].rot.w, poses2[0].rot.w);
ASSERT_EQ(poses[0].rot.x, poses2[0].rot.x);
ASSERT_EQ(poses[0].rot.y, poses2[0].rot.y);
ASSERT_EQ(poses[0].rot.z, poses2[0].rot.z);
ASSERT_EQ(poses[1].pos.x, poses2[1].pos.x);
ASSERT_EQ(poses[1].pos.y, poses2[1].pos.y);
ASSERT_EQ(poses[1].pos.z, poses2[1].pos.z);
ASSERT_EQ(poses[1].rot.w, poses2[1].rot.w);
ASSERT_EQ(poses[1].rot.x, poses2[1].rot.x);
ASSERT_EQ(poses[1].rot.y, poses2[1].rot.y);
ASSERT_EQ(poses[1].rot.z, poses2[1].rot.z);
}
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