{"action":"created","comment":{"url":"https://api.github.com/repos/personalrobotics/prpy/pulls/comments/101804967","pull_request_review_id":22544950,"id":101804967,"diff_hunk":"@@ -1088,6 +1088,26 @@ def test_GetMinDistanceBetweenTransformAndWorkspaceTraj(self):\n         numpy.testing.assert_array_almost_equal(T_loc, expected_T_loc, decimal=7, \\\n                                                 err_msg=error, verbose=True)\n \n+    def test_ConcatenateTrajectories(self):\n+        q0 = self.robot.GetDOFValues(self.active_dof_indices).tolist()\n+        q1 = [0.02, 0.01, 0.02, 0.01, 0.01, 0.01, 0.0]\n+        q2 = [0.50, 0.30, 0.02, 0.01, 0.01, 0.01, 0.0]\n+        traj1 = self.CreateTrajectory(q0, q1)\n+        traj2 = self.CreateTrajectory(q1, q2)\n+        combined_traj = prpy.util.ConcatenateTrajectories(self.robot, [traj1, traj2])\n+\n+        combined_waypoints = numpy.zeros((combined_traj.GetNumWaypoints(), 7))\n+        for j in xrange(combined_traj.GetNumWaypoints()):\n+            combined_waypoints[j] = combined_traj.GetWaypoint(j)\n+        all_waypoints = [q0, q1, q2]\n+\n+        error = 'The waypoints on the trajectory do not match the individual waypoints'\n+        numpy.testing.assert_array_almost_equal(combined_waypoints,\n+                                                all_waypoints,\n+                                                decimal=4,\n+                                                err_msg=error,\n+                                                verbose=True)\n+","path":"tests/test_util.py","position":23,"original_position":23,"commit_id":"b167c0a033f17d9eb7594b297731a649efaaffc6","original_commit_id":"b167c0a033f17d9eb7594b297731a649efaaffc6","user":{"login":"gilwoolee","id":5163880,"avatar_url":"https://avatars.githubusercontent.com/u/5163880?v=3","gravatar_id":"","url":"https://api.github.com/users/gilwoolee","html_url":"https://github.com/gilwoolee","followers_url":"https://api.github.com/users/gilwoolee/followers","following_url":"https://api.github.com/users/gilwoolee/following{/other_user}","gists_url":"https://api.github.com/users/gilwoolee/gists{/gist_id}","starred_url":"https://api.github.com/users/gilwoolee/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gilwoolee/subscriptions","organizations_url":"https://api.github.com/users/gilwoolee/orgs","repos_url":"https://api.github.com/users/gilwoolee/repos","events_url":"https://api.github.com/users/gilwoolee/events{/privacy}","received_events_url":"https://api.github.com/users/gilwoolee/received_events","type":"User","site_admin":false},"body":"Can we add tests for checking tags? E.g. when one of the tags along the trajectory is not smooth, etc. ","created_at":"2017-02-17T17:25:14Z","updated_at":"2017-02-17T17:25:31Z","html_url":"https://github.com/personalrobotics/prpy/pull/354#discussion_r101804967","pull_request_url":"https://api.github.com/repos/personalrobotics/prpy/pulls/354","_links":{"self":{"href":"https://api.github.com/repos/personalrobotics/prpy/pulls/comments/101804967"},"html":{"href":"https://github.com/personalrobotics/prpy/pull/354#discussion_r101804967"},"pull_request":{"href":"https://api.github.com/repos/personalrobotics/prpy/pulls/354"}}},"pull_request":{"url":"https://api.github.com/repos/personalrobotics/prpy/pulls/354","id":83175969,"html_url":"https://github.com/personalrobotics/prpy/pull/354","diff_url":"https://github.com/personalrobotics/prpy/pull/354.diff","patch_url":"https://github.com/personalrobotics/prpy/pull/354.patch","issue_url":"https://api.github.com/repos/personalrobotics/prpy/issues/354","number":354,"state":"open","locked":false,"title":"Feature/concatenate 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