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Fixes missing skeleton segment IDs #124

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Merged
merged 1 commit into from
Mar 4, 2025
Merged

Fixes missing skeleton segment IDs #124

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2 changes: 1 addition & 1 deletion SettingsDeserializer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1913,7 +1913,7 @@ bool SettingsDeserializer::DeserializeSkeletonSettings(bool skeletonGlobalData,
{
segmentHierarchical.name = segmentElem.ReadAttributeString("Name");

segmentElem.TryReadElementUnsignedInt32("ID", segmentHierarchical.id);
segmentHierarchical.id = segmentElem.ReadAttributeInt("ID");
segmentIdIndexMap[segmentHierarchical.id] = segmentIndex++;

segmentElem.TryReadElementString("Solver", segmentHierarchical.solver);
Expand Down
128 changes: 128 additions & 0 deletions Tests/Data/Skeleton.h
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Original file line number Diff line number Diff line change
@@ -1,6 +1,134 @@
#pragma once
namespace qualisys_cpp_sdk::tests::data
{
inline const char* SkeletonSettingsGet = R"XMLDATA(
<QTM_Settings>
<Skeletons>
<Skeleton Name="skeleton1">
<Scale>1.100000</Scale>
<Segments>
<Segment Name="segment1" ID="1">
<Solver>Global Optimization</Solver>
<Transform>
<Position X="0.000000" Y="1.000000" Z="2.000000"/>
<Rotation X="0.000000" Y="0.000000" Z="0.000000" W="1.000000"/>
</Transform>
<DefaultTransform>
<Position X="0.000000" Y="1.000000" Z="2.000000"/>
<Rotation X="0.707000" Y="-0.707000" Z="0.000000" W="0.000000"/>
</DefaultTransform>
<DegreesOfFreedom>
<RotationX>
<Constraint LowerBound="2.300000" UpperBound="3.200000"/>
<Couplings>
<Coupling Segment="segment1" DegreeOfFreedom="RotationX" Coefficient="5.500000"/>
</Couplings>
<Goal Value="4.100000" Weight="1.400000"/>
</RotationX>
</DegreesOfFreedom>
<Endpoint X="0.000000" Y="1.000000" Z="2.000000"/>
<Markers>
<Marker Name="marker1">
<Position X="1.000000" Y="2.000000" Z="3.000000"/>
<Weight>3.000000</Weight>
</Marker>
<Marker Name="marker2">
<Position X="4.000000" Y="5.000000" Z="6.000000"/>
<Weight>7.000000</Weight>
</Marker>
</Markers>
<RigidBodies>
<RigidBody Name="body1">
<Transform>
<Position X="1.000000" Y="2.000000" Z="3.000000"/>
<Rotation X="1.000000" Y="2.000000" Z="3.000000" W="4.000000"/>
</Transform>
<Weight>3.000000</Weight>
</RigidBody>
<RigidBody Name="body2">
<Transform>
<Position X="4.000000" Y="5.000000" Z="6.000000"/>
<Rotation X="5.000000" Y="6.000000" Z="7.000000" W="8.000000"/>
</Transform>
<Weight>7.000000</Weight>
</RigidBody>
</RigidBodies>
<Segment Name="segment3" ID="3">
<Solver>Global Optimization</Solver>
<Transform>
<Position X="10.000000" Y="11.000000" Z="12.000000"/>
<Rotation X="0.000000" Y="0.000000" Z="0.000000" W="1.000000"/>
</Transform>
<DefaultTransform>
<Position X="3.000000" Y="4.000000" Z="5.000000"/>
<Rotation X="0.707000" Y="0.707000" Z="0.000000" W="0.000000"/>
</DefaultTransform>
<DegreesOfFreedom>
<RotationX>
<Constraint LowerBound="2.300000" UpperBound="3.200000"/>
<Couplings>
<Coupling Segment="segment1" DegreeOfFreedom="RotationX" Coefficient="5.500000"/>
</Couplings>
<Goal Value="4.100000" Weight="1.400000"/>
</RotationX>
</DegreesOfFreedom>
<Endpoint X="0.000000" Y="1.000000" Z="2.000000"/>
<Markers>
<Marker Name="marker1">
<Position X="1.000000" Y="2.000000" Z="3.000000"/>
<Weight>3.000000</Weight>
</Marker>
<Marker Name="marker2">
<Position X="4.000000" Y="5.000000" Z="6.000000"/>
<Weight>7.000000</Weight>
</Marker>
</Markers>
<RigidBodies/>
</Segment>
</Segment>
</Segments>
</Skeleton>
<Skeleton Name="skeleton2">
<Scale>1.000000</Scale>
<Segments>
<Segment Name="segment2" ID="2">
<Solver>Global Optimization</Solver>
<Transform>
<Position X="0.000000" Y="1.000000" Z="2.000000"/>
<Rotation X="0.000000" Y="0.000000" Z="0.000000" W="1.000000"/>
</Transform>
<DefaultTransform>
<Position X="0.000000" Y="1.000000" Z="2.000000"/>
<Rotation X="0.707000" Y="0.000000" Z="0.707000" W="0.000000"/>
</DefaultTransform>
<DegreesOfFreedom>
<RotationX>
<Constraint LowerBound="2.300000" UpperBound="3.200000"/>
<Couplings>
<Coupling Segment="segment1" DegreeOfFreedom="RotationX" Coefficient="5.500000"/>
</Couplings>
<Goal Value="4.100000" Weight="1.400000"/>
</RotationX>
</DegreesOfFreedom>
<Endpoint X="0.000000" Y="1.000000" Z="2.000000"/>
<Markers>
<Marker Name="marker1">
<Position X="1.000000" Y="2.000000" Z="3.000000"/>
<Weight>3.000000</Weight>
</Marker>
<Marker Name="marker2">
<Position X="4.000000" Y="5.000000" Z="6.000000"/>
<Weight>7.000000</Weight>
</Marker>
</Markers>
<RigidBodies/>
</Segment>
</Segments>
</Skeleton>
</Skeletons>
</QTM_Settings>
)XMLDATA";

inline const char* SkeletonSettingsSet = R"XMLDATA(
<QTM_Settings>
<Skeletons>
Expand Down
11 changes: 6 additions & 5 deletions Tests/SkeletonParametersTests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,11 +86,11 @@ namespace
std::vector<CRTProtocol::SSettingsSkeleton> CreateDummySkeletonsNonHierarchical()
{
auto segmentsSkeleton1 = std::vector<CRTProtocol::SSettingsSkeletonSegment>({
{ { 0, 0.0f, 1.0f, 2.0f, 0.707000017f, -0.707000017f, 0.0f, 0.0f }, "segment1", -1, -1 },
{ { 0, 3.0f, 4.0f, 5.0f, 0.707000017f, 0.707000017f, 0.0f, 0.0f }, "segment3", 0, 1 }
{ { 1, 0.0f, 1.0f, 2.0f, 0.707000017f, -0.707000017f, 0.0f, 0.0f }, "segment1", -1, -1 },
{ { 3, 3.0f, 4.0f, 5.0f, 0.707000017f, 0.707000017f, 0.0f, 0.0f }, "segment3", 0, 1 }
});
auto segmentsSkeleton2 = std::vector<CRTProtocol::SSettingsSkeletonSegment>({
{ { 0, 0.0f, 1.0f, 2.0f, 0.707000017f, 0.0f, 0.707000017f, 0.0f }, "segment2", -1, -1 }
{ { 2, 0.0f, 1.0f, 2.0f, 0.707000017f, 0.0f, 0.707000017f, 0.0f }, "segment2", -1, -1 }
});

CRTProtocol::SSettingsSkeleton skeleton1 = { "skeleton1", segmentsSkeleton1 };
Expand Down Expand Up @@ -144,7 +144,7 @@ TEST_CASE("GetSkeletonSettings")
{
auto [protocol, network] = utils::CreateTestContext();

network->PrepareResponse("GetParameters Skeleton", data::SkeletonSettingsSet,
network->PrepareResponse("GetParameters Skeleton", data::SkeletonSettingsGet,
CRTPacket::PacketXML);

using namespace qualisys_cpp_sdk::tests;
Expand All @@ -166,6 +166,7 @@ TEST_CASE("GetSkeletonSettings")
const CRTProtocol::SSettingsSkeletonSegmentHierarchical& actualSegment)
{
CHECK_EQ(expectedSegment.name, actualSegment.name);
CHECK_EQ(expectedSegment.id, actualSegment.id);

CHECK_EQ(expectedSegment.segments.size(), actualSegment.segments.size());

Expand Down Expand Up @@ -256,7 +257,7 @@ TEST_CASE("GetSkeletonSettingsNonHierarchical")
{
auto [protocol, network] = utils::CreateTestContext();

network->PrepareResponse("GetParameters Skeleton", data::SkeletonSettingsSet,
network->PrepareResponse("GetParameters Skeleton", data::SkeletonSettingsGet,
CRTPacket::PacketXML);

using namespace qualisys_cpp_sdk::tests;
Expand Down
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