From 99f5ca8d1dc8e1ef7d659d5d404b33f0e5efb8d5 Mon Sep 17 00:00:00 2001
From: Shun Hasegawa <pazeshun3684@gmail.com>
Date: Fri, 14 Oct 2022 22:38:55 +0900
Subject: [PATCH 1/3] [irteus] Add test of passing integer time-list to
 interpolator

cf. https://github.com/euslisp/jskeus/pull/625
---
 irteus/test/interpolator.l | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/irteus/test/interpolator.l b/irteus/test/interpolator.l
index 51d23e06..1e128015 100644
--- a/irteus/test/interpolator.l
+++ b/irteus/test/interpolator.l
@@ -239,6 +239,15 @@
         ))
     ))
 
+;; https://github.com/euslisp/jskeus/pull/625
+(defun test-interpolators-625
+  (&optional (ip-class linear-interpolator))
+  (let ((ip (instance ip-class :init)))
+    (send ip :reset :position-list (list #f(1 2 3) #f(3 4 5) #f(1 2 3)) :time-list (list 1000 1800))
+    (send ip :start-interpolation)
+    (send ip :pass-time 200)
+    (assert (send ip :interpolatingp))))
+
 (deftest test-linear-interpolator ()
   (let ((res (test-interpolators linear-interpolator)))))
 
@@ -257,6 +266,12 @@
 (deftest test-minjerk-absolute-interpolator-457-0005 ()
   (let ((res (test-interpolators-457 minjerk-interpolator 0.0005)))))
 
+(deftest test-linear-interpolator-625 ()
+  (let ((res (test-interpolators-625 linear-interpolator)))))
+
+(deftest test-minjerk-interpolator-625 ()
+  (let ((res (test-interpolators-625 minjerk-interpolator)))))
+
 
 #|
 (load "~/prog/euslib/jsk/gnuplotlib.l")

From 729aefa46224c5d64ec9401dacabc25d09ad767e Mon Sep 17 00:00:00 2001
From: Shun Hasegawa <pazeshun3684@gmail.com>
Date: Fri, 14 Oct 2022 21:17:33 +0900
Subject: [PATCH 2/3] [irteus/irtutil.l] Enable to pass integer time-list to
 interpolator

---
 irteus/irtutil.l | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/irteus/irtutil.l b/irteus/irtutil.l
index 2e909d56..d9499ace 100644
--- a/irteus/irtutil.l
+++ b/irteus/irtutil.l
@@ -265,6 +265,8 @@
    time-list: list of time from start for each control point, time in first contrall point is zero, so length of this list is length of control point minus 1"
    (setq position-list pl)
    (setq time-list tl)
+   (dotimes (i (length time-list))
+     (setf (elt time-list i) (float (elt time-list i))))  ;; to use compiled eps> properly (see https://github.com/euslisp/EusLisp/issues/406)
    (if (/= (length position-list) (1+ (length time-list)))
        (warning-message 1 "length of position-list must be length of time-list + 1"))
    (setq time 0.0)

From 09a2b5504eab3bd2e7531c0845607e8a6da47b31 Mon Sep 17 00:00:00 2001
From: Shun Hasegawa <pazeshun3684@gmail.com>
Date: Mon, 17 Oct 2022 13:59:36 +0900
Subject: [PATCH 3/3] [irteus/irtutil.l] Optimize float conversion of time-list
 in interpolator

Reflect @Affonso-Gui's offline comment
---
 irteus/irtutil.l | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/irteus/irtutil.l b/irteus/irtutil.l
index d9499ace..7ce01ca1 100644
--- a/irteus/irtutil.l
+++ b/irteus/irtutil.l
@@ -264,9 +264,7 @@
    position-list: list of control point
    time-list: list of time from start for each control point, time in first contrall point is zero, so length of this list is length of control point minus 1"
    (setq position-list pl)
-   (setq time-list tl)
-   (dotimes (i (length time-list))
-     (setf (elt time-list i) (float (elt time-list i))))  ;; to use compiled eps> properly (see https://github.com/euslisp/EusLisp/issues/406)
+   (setq time-list (mapcar #'float tl))  ;; float conversion is for compiled eps> (see https://github.com/euslisp/EusLisp/issues/406)
    (if (/= (length position-list) (1+ (length time-list)))
        (warning-message 1 "length of position-list must be length of time-list + 1"))
    (setq time 0.0)