From 569daf43da760113e474c7e857dc86da8a6052a8 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Tue, 21 Nov 2023 08:12:04 -0600
Subject: [PATCH] fixup

---
 trajopt_ifopt/test/cast_cost_unit.cpp                     | 3 ---
 trajopt_ifopt/test/continuous_collision_gradient_unit.cpp | 3 ---
 trajopt_ifopt/test/discrete_collision_gradient_unit.cpp   | 3 ---
 trajopt_ifopt/test/simple_collision_unit.cpp              | 3 ---
 4 files changed, 12 deletions(-)

diff --git a/trajopt_ifopt/test/cast_cost_unit.cpp b/trajopt_ifopt/test/cast_cost_unit.cpp
index aba2bc35..e6e3dd15 100644
--- a/trajopt_ifopt/test/cast_cost_unit.cpp
+++ b/trajopt_ifopt/test/cast_cost_unit.cpp
@@ -57,7 +57,6 @@ class CastTest : public testing::TestWithParam<const char*>
 {
 public:
   Environment::Ptr env = std::make_shared<Environment>(); /**< Tesseract */
-  Visualization::Ptr plotter_;                            /**< Plotter */
 
   void SetUp() override
   {
@@ -79,8 +78,6 @@ TEST_F(CastTest, boxes)  // NOLINT
   ipos["boxbot_y_joint"] = 0;
   env->setState(ipos);
 
-  //  plotter_->plotScene();
-
   std::vector<ContactResultMap> collisions;
   tesseract_scene_graph::StateSolver::Ptr state_solver = env->getStateSolver();
   ContinuousContactManager::Ptr manager = env->getContinuousContactManager();
diff --git a/trajopt_ifopt/test/continuous_collision_gradient_unit.cpp b/trajopt_ifopt/test/continuous_collision_gradient_unit.cpp
index f9c9fa0a..52be34dc 100644
--- a/trajopt_ifopt/test/continuous_collision_gradient_unit.cpp
+++ b/trajopt_ifopt/test/continuous_collision_gradient_unit.cpp
@@ -58,7 +58,6 @@ class ContinuousCollisionGradientTest : public testing::TestWithParam<const char
 {
 public:
   Environment::Ptr env = std::make_shared<Environment>(); /**< Tesseract */
-  Visualization::Ptr plotter_;                            /**< Plotter */
 
   void SetUp() override
   {
@@ -79,8 +78,6 @@ void runContinuousGradientTest(const Environment::Ptr& env, double coeff)
   ipos["spherebot_y_joint"] = 0;
   env->setState(ipos);
 
-  //  plotter_->plotScene();
-
   std::vector<ContactResultMap> collisions;
   tesseract_scene_graph::StateSolver::Ptr state_solver = env->getStateSolver();
   ContinuousContactManager::Ptr manager = env->getContinuousContactManager();
diff --git a/trajopt_ifopt/test/discrete_collision_gradient_unit.cpp b/trajopt_ifopt/test/discrete_collision_gradient_unit.cpp
index 323b0ae6..a10fd528 100644
--- a/trajopt_ifopt/test/discrete_collision_gradient_unit.cpp
+++ b/trajopt_ifopt/test/discrete_collision_gradient_unit.cpp
@@ -55,7 +55,6 @@ class DiscreteCollisionGradientTest : public testing::TestWithParam<const char*>
 {
 public:
   Environment::Ptr env = std::make_shared<Environment>(); /**< Tesseract */
-  Visualization::Ptr plotter_;                            /**< Plotter */
 
   void SetUp() override
   {
@@ -74,8 +73,6 @@ void runDiscreteGradientTest(const Environment::Ptr& env, double coeff)
   ipos["spherebot_y_joint"] = 0.75;
   env->setState(ipos);
 
-  //  plotter_->plotScene();
-
   std::vector<ContactResultMap> collisions;
   tesseract_scene_graph::StateSolver::Ptr state_solver = env->getStateSolver();
   DiscreteContactManager::Ptr manager = env->getDiscreteContactManager();
diff --git a/trajopt_ifopt/test/simple_collision_unit.cpp b/trajopt_ifopt/test/simple_collision_unit.cpp
index 850c6940..127130d6 100644
--- a/trajopt_ifopt/test/simple_collision_unit.cpp
+++ b/trajopt_ifopt/test/simple_collision_unit.cpp
@@ -54,7 +54,6 @@ class SimpleCollisionTest : public testing::TestWithParam<const char*>
 {
 public:
   Environment::Ptr env = std::make_shared<Environment>(); /**< Tesseract */
-  Visualization::Ptr plotter_;                            /**< Plotter */
 
   void SetUp() override
   {
@@ -74,8 +73,6 @@ TEST_F(SimpleCollisionTest, spheres)  // NOLINT
   ipos["spherebot_y_joint"] = 0.75;
   env->setState(ipos);
 
-  //  plotter_->plotScene();
-
   std::vector<ContactResultMap> collisions;
   auto state_solver = env->getStateSolver();
   DiscreteContactManager::Ptr manager = env->getDiscreteContactManager();