Fix serialiazationJson

rdiankov · Jan 15, 2024 · 8ee4599 · 8ee4599
1 parent 13d296f
commit 8ee4599
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/include/openrave/kinbody.h b/include/openrave/kinbody.h
@@ -2450,6 +2450,7 @@ class OPENRAVE_API KinBody : public InterfaceBase
 
         bool _isRobot = false; ///< true if should create a RobotBasePtr
         bool _isPartial = true; ///< true if this info contains partial information. false if the info contains the full body information and can ignore anything that is currently saved on the environment when updating.
+        bool _isDiffResult = false; ///< true if this info represents a diff result.
 
         enum KinBodyInfoField {
             KBIF_Transform = (1 << 0), // _transform field
@@ -3741,7 +3742,7 @@ class OPENRAVE_API KinBody : public InterfaceBase
             KinBodyInfoPtr diffInfo = boost::make_shared<KinBody::KinBodyInfo>();
             diffInfo->_id = _id;
             diffInfo->_vLinkInfos.push_back(linkInfo);
-            diffInfo->_isPartial = true;
+            diffInfo->_isDiffResult = true;
             diffInfo->_modifiedFields = 0;
             _callbackOnModify(diffInfo);
         }
@@ -3751,7 +3752,7 @@ class OPENRAVE_API KinBody : public InterfaceBase
             KinBodyInfoPtr diffInfo = boost::make_shared<KinBody::KinBodyInfo>();
             diffInfo->_id = _id;
             diffInfo->_vJointInfos.push_back(jointInfo);
-            diffInfo->_isPartial = true;
+            diffInfo->_isDiffResult = true;
             diffInfo->_modifiedFields = 0;
             _callbackOnModify(diffInfo);
         }

diff --git a/src/libopenrave/kinbody.cpp b/src/libopenrave/kinbody.cpp
@@ -139,7 +139,7 @@ void KinBody::KinBodyInfo::SerializeJSON(rapidjson::Value& rKinBodyInfo, rapidjs
 {
     rKinBodyInfo.SetObject();
 
-    if (_isPartial) {
+    if (_isDiffResult) {
         if (IsModifiedField(KinBody::KinBodyInfo::KBIF_Name)) {
             orjson::SetJsonValueByKey(rKinBodyInfo, "name", _name, allocator);
         }
@@ -902,7 +902,7 @@ void KinBody::SetName(const std::string& newname)
             KinBody::KinBodyInfoPtr diffInfo = boost::make_shared<KinBody::KinBodyInfo>();
             diffInfo->_id = _id;
             diffInfo->_name = _name;
-            diffInfo->_isPartial = true;
+            diffInfo->_isDiffResult = true;
             diffInfo->_modifiedFields = 0;
             diffInfo->AddModifiedField(KinBody::KinBodyInfo::KBIF_Name);
             _callbackOnModify(diffInfo);