diff --git a/src/test/gtest_constraint_absolute.cpp b/src/test/gtest_constraint_absolute.cpp index dc3d34ac1ceb276aa46833535daa6abf135baed6..40a838ed4ddf34ab5690f1a05c633469f8560706 100644 --- a/src/test/gtest_constraint_absolute.cpp +++ b/src/test/gtest_constraint_absolute.cpp @@ -66,7 +66,7 @@ TEST(ConstraintBlockAbs, ctr_block_abs_p) WOLF_INFO("SOLVER REPORT:\n",brief_report); //only orientation is constrained - ASSERT_MATRIX_APPROX(frm0->getState().head<3>(), pose10.head<3>(), 1e-6); + ASSERT_MATRIX_APPROX(frm0->getPPtr()->getState(), pose10.head<3>(), 1e-6); } TEST(ConstraintBlockAbs, ctr_block_abs_p_tail2) @@ -84,7 +84,7 @@ TEST(ConstraintBlockAbs, ctr_block_abs_p_tail2) WOLF_INFO("SOLVER REPORT:\n",brief_report); //only orientation is constrained - ASSERT_MATRIX_APPROX(frm0->getState().tail<2>(), pose10.tail<2>(), 1e-6); + ASSERT_MATRIX_APPROX(frm0->getPPtr()->getState().tail<2>(), pose10.tail<2>(), 1e-6); } TEST(ConstraintBlockAbs, ctr_block_abs_v) @@ -104,7 +104,7 @@ TEST(ConstraintBlockAbs, ctr_block_abs_v) WOLF_INFO("SOLVER REPORT:\n",brief_report); //only velocity is constrained - ASSERT_MATRIX_APPROX(frm0->getState().tail<3>(), pose10.tail<3>(), 1e-6); + ASSERT_MATRIX_APPROX(frm0->getVPtr()->getState(), pose10.tail<3>(), 1e-6); } TEST(ConstraintQuatAbs, ctr_block_abs_o) @@ -124,7 +124,7 @@ TEST(ConstraintQuatAbs, ctr_block_abs_o) WOLF_INFO("SOLVER REPORT:\n",brief_report); //only velocity is constrained - ASSERT_MATRIX_APPROX(frm0->getState().segment<4>(3), pose10.segment<4>(3), 1e-6); + ASSERT_MATRIX_APPROX(frm0->getOPtr()->getState(), pose10.segment<4>(3), 1e-6); } int main(int argc, char **argv)