From e55035b24d67c5ac790aa48a922c2ba3fd69d1de Mon Sep 17 00:00:00 2001
From: Vincent Gerber <vincent.gerber@wandelbots.com>
Date: Wed, 6 Nov 2024 08:54:14 +0100
Subject: [PATCH] fix: Fixed pose string precision

---
 src/lib/converters.ts |  4 ++--
 test/utils.test.ts    | 13 +++++++++++--
 2 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/src/lib/converters.ts b/src/lib/converters.ts
index ec6ab56..bff0ad7 100644
--- a/src/lib/converters.ts
+++ b/src/lib/converters.ts
@@ -52,9 +52,9 @@ export function poseToWandelscriptString(
     pose.orientation?.z ?? 0,
   ]
 
-  const positionValues = position.map((v) => parseFloat(v.toFixed(1)))
+  const positionValues = position.map((v) => v.toFixed(1))
   // Rotation needs more precision since it's in radians
-  const rotationValues = orientation.map((v) => parseFloat(v.toFixed(4)))
+  const rotationValues = orientation.map((v) => v.toFixed(4))
 
   return `(${positionValues.concat(rotationValues).join(", ")})`
 }
diff --git a/test/utils.test.ts b/test/utils.test.ts
index ebcae27..c96f35e 100644
--- a/test/utils.test.ts
+++ b/test/utils.test.ts
@@ -3,11 +3,20 @@
 import { expect, test } from "vitest"
 import { poseToWandelscriptString } from "../dist"
 
-test("utility functions", async () => {
+test("pose string has right precision", async () => {
   expect(
     poseToWandelscriptString({
       position: { x: 1, y: 2, z: 3 },
       orientation: { x: 4, y: 5, z: 6 },
     }),
-  ).toBe("(1, 2, 3, 4, 5, 6)")
+  ).toBe("(1.0, 2.0, 3.0, 4.0000, 5.0000, 6.0000)")
+})
+
+test("pose string rounds correctly", async () => {
+  expect(
+    poseToWandelscriptString({
+      position: { x: 1, y: 2.22, z: 3.556 },
+      orientation: { x: 2, y: 3.3333, z: 1.55559 },
+    }),
+  ).toBe("(1.0, 2.2, 3.6, 2.0000, 3.3333, 1.5556)")
 })