From df464589b28047602418167a05a2dcae3d98dfa6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Wed, 6 Feb 2019 11:01:20 +0100
Subject: [PATCH] taking the corresponding stateblock->getState in assertions
---
src/test/gtest_constraint_absolute.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/test/gtest_constraint_absolute.cpp b/src/test/gtest_constraint_absolute.cpp
index dc3d34ac1..40a838ed4 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)
--
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