Merge pull request #162 from cdellin/master

Add superclass call to planners, and ensure serialized transform is floats.

src/prpy/planning/base.py

@@ -119,12 +119,14 @@ def get_planning_method_names(self):
 
 class BasePlanner(Planner):
     def __init__(self):
+        super(BasePlanner, self).__init__()
         self.env = openravepy.Environment()
 
 class MetaPlanner(Planner):
     __metaclass__ = abc.ABCMeta
 
     def __init__(self):
+        super(MetaPlanner, self).__init__()
         self._planners = list()
 
     def has_planning_method(self, method_name):
@@ -216,6 +218,7 @@ def meta_wrapper(*args, **kw_args):
 
 class Sequence(MetaPlanner):
     def __init__(self, *planners):
+        super(Sequence, self).__init__()
         self._planners = planners
 
     def __str__(self):
@@ -259,6 +262,7 @@ def plan(self, method, args, kw_args):
 
 class Ranked(MetaPlanner):
     def __init__(self, *planners):
+        super(Ranked, self).__init__()
         self._planners = planners
 
     def __str__(self):
@@ -328,6 +332,7 @@ def call_planner(index, planner):
 
 class FirstSupported(MetaPlanner):
     def __init__(self, *planners):
+        super(FirstSupported, self).__init__()
         self._planners = planners
 
     def __str__(self):
@@ -352,6 +357,7 @@ def plan(self, method, args, kw_args):
 
 class MethodMask(MetaPlanner):
     def __init__(self, planner, methods):
+        super(MethodMask, self).__init__()
         self._methods = set(methods)
         self._planner = planner
         self._planners = [planner]

src/prpy/serialization.py

@@ -190,8 +190,8 @@ def serialize_transform(t):
     from openravepy import quatFromRotationMatrix
 
     return {
-        'position': list(t[0:3, 3]),
-        'orientation': list(quatFromRotationMatrix(t[0:3, 0:3])),
+        'position': list(map(float,t[0:3, 3])),
+        'orientation': list(map(float,quatFromRotationMatrix(t[0:3, 0:3]))),
     }
 
 # Deserialization.