Fix interleaved reading/writing of the application point, force and t…

…orque in ForceTorqueTrack
marnunez · Jul 3, 2024 · 131c0bd · 131c0bd
1 parent 4902f8e
commit 131c0bd
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Showing 2 changed files with 26 additions and 28 deletions.
diff --git a/src/basictdf/tdfForce3D.py b/src/basictdf/tdfForce3D.py
@@ -90,15 +90,10 @@ def _build(stream, frames: int) -> "ForceTorqueTrack":
         torque_data[:] = np.nan
 
         for startFrame, nFrames in segmentData:
-            application_point_data[
-                startFrame : startFrame + nFrames
-            ] = ApplicationPointType.bread(stream, nFrames)
-            force_data[startFrame : startFrame + nFrames] = ForceType.bread(
-                stream, nFrames
-            )
-            torque_data[startFrame : startFrame + nFrames] = TorqueType.bread(
-                stream, nFrames
-            )
+            for frame in range(startFrame, startFrame + nFrames):
+                application_point_data[frame] = ApplicationPointType.bread(stream)
+                force_data[frame] = ForceType.bread(stream)
+                torque_data[frame] = TorqueType.bread(stream)
         return ForceTorqueTrack(
             label=label,
             application_point=application_point_data,
@@ -127,12 +122,13 @@ def _write(self, file: BinaryIO) -> None:
             i32.bwrite(file, segment.stop - segment.start)
 
         for segment in segments:
-            # applicationPoint
-            ApplicationPointType.bwrite(file, self.application_point[segment])
-            # force
-            ForceType.bwrite(file, self.force[segment])
-            # torque
-            TorqueType.bwrite(file, self.torque[segment])
+            for frame in range(segment.start, segment.stop):
+                # applicationPoint
+                ApplicationPointType.bwrite(file, self.application_point[frame])
+                # force
+                ForceType.bwrite(file, self.force[frame])
+                # torque
+                TorqueType.bwrite(file, self.torque[frame])
 
     def __repr__(self) -> str:
         return f"ForceTorqueTrack(label={self.label}, nFrames={self.nFrames})"

diff --git a/tests/test_ForceTorque3d.py b/tests/test_ForceTorque3d.py
@@ -58,20 +58,21 @@ def test_build(self):
         # nFrames
         b += b"\x02\x00\x00\x00"
 
-        # application point
-        b += ApplicationPointType.write(cop)
+        for i in range(2):
+            # application point
+            b += ApplicationPointType.write(cop[i])
 
-        # force
-        b += ForceType.write(force)
+            # force
+            b += ForceType.write(force[i])
 
-        # torque
-        b += TorqueType.write(torque)
+            # torque
+            b += TorqueType.write(torque[i])
 
         c = BytesIO(b)
         a = ForceTorqueTrack._build(c, 2)
         self.assertEqual(a.label, "r_gr")
         self.assertEqual(a.nFrames, 2)
-        np.testing.assert_equal(a.application_point, cop)
+        np.testing.assert_almost_equal(a.application_point, cop)
 
         self.assertEqual(a.application_point.shape, (2, 3))
         self.assertEqual(a.force.shape, (2, 3))
@@ -116,14 +117,15 @@ def test_write(self):
         # nFrames
         b += b"\x02\x00\x00\x00"
 
-        # application point
-        b += ApplicationPointType.write(cop)
+        for i in range(2):
+            # application point
+            b += ApplicationPointType.write(cop[i])
 
-        # force
-        b += ForceType.write(force)
+            # force
+            b += ForceType.write(force[i])
 
-        # torque
-        b += TorqueType.write(torque)
+            # torque
+            b += TorqueType.write(torque[i])
 
         i = BytesIO(b)
         other = BytesIO()