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Changes with tesseract environment getJointGroup and getKinematicGroup #437

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Jan 4, 2025
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Changes with tesseract environment getJointGroup and getKinematicGroup #437

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2 changes: 1 addition & 1 deletion trajopt/test/kinematic_costs_unit.cpp
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Expand Up @@ -80,7 +80,7 @@ TEST_F(KinematicCostsTest, CartPoseJacCalculator) // NOLINT
{
CONSOLE_BRIDGE_logDebug("KinematicCostsTest, CartPoseJacCalculator");

const tesseract_kinematics::JointGroup::Ptr kin = env_->getJointGroup("right_arm");
const tesseract_kinematics::JointGroup::ConstPtr kin = env_->getJointGroup("right_arm");

const std::string source_frame = env_->getRootLinkName();
const std::string target_frame = "r_gripper_tool_frame";
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2 changes: 1 addition & 1 deletion trajopt_ifopt/test/cartesian_line_constraint_unit.cpp
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Expand Up @@ -29,7 +29,7 @@ class CartesianLineConstraintUnit : public testing::TestWithParam<const char*>
Environment::Ptr env = std::make_shared<Environment>();
std::shared_ptr<ifopt::Composite> variables = std::make_shared<ifopt::Composite>("variable-sets", false);

tesseract_kinematics::JointGroup::Ptr manip;
tesseract_kinematics::JointGroup::ConstPtr manip;
CartLineInfo info;
trajopt_ifopt::JointPosition::Ptr var;

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2 changes: 1 addition & 1 deletion trajopt_ifopt/test/cartesian_position_constraint_unit.cpp
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Expand Up @@ -58,7 +58,7 @@ class CartesianPositionConstraintUnit : public testing::TestWithParam<const char
Environment::Ptr env = std::make_shared<Environment>();
ifopt::Problem nlp;

tesseract_kinematics::JointGroup::Ptr kin_group;
tesseract_kinematics::JointGroup::ConstPtr kin_group;
CartPosConstraint::Ptr constraint;

Eigen::Index n_dof{ -1 };
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