Updated TrajOpt planner unit test

tesseract-robotics · Oct 2, 2019 · 89888fb · 89888fb
1 parent 9e7666d
commit 89888fb
Showing 1 changed file with 12 additions and 12 deletions.
diff --git a/tesseract/tesseract_planning/tesseract_motion_planners/test/trajopt_planner_tests.cpp b/tesseract/tesseract_planning/tesseract_motion_planners/test/trajopt_planner_tests.cpp
@@ -239,8 +239,8 @@ TEST_F(TesseractPlanningTrajoptUnit, TrajoptFreespacePlanner2)
       std::make_shared<JointWaypoint>(std::vector<double>({ 0, 0, 0, -1.57, 0, 0, 0 }), joint_names);
 
   // Specify a Cartesian Waypoint as the finish
-  config.end_waypoint_ =
-      std::make_shared<CartesianWaypoint>(Eigen::Vector3d(-.20, .4, 0.2), Eigen::Quaterniond(0, 0, 1.0, 0));
+  config.end_waypoint_ = std::make_shared<CartesianWaypoint>(
+      Eigen::Vector3d(-.20, .4, 0.2), Eigen::Quaterniond(0, 0, 1.0, 0), "base_link");
 
   // Create test planner used for testing problem creation
   tesseract_tests::TrajOptFreespacePlannerTest test_planner;
@@ -284,8 +284,8 @@ TEST_F(TesseractPlanningTrajoptUnit, TrajoptFreespacePlanner3)
       tesseract_ptr_->getFwdKinematicsManagerConst()->getFwdKinematicSolver("manipulator")->getJointNames();
 
   // Specify a Cartesian Waypoint as the start
-  config.start_waypoint_ =
-      std::make_shared<CartesianWaypoint>(Eigen::Vector3d(-.20, .4, 0.2), Eigen::Quaterniond(0, 0, 1.0, 0));
+  config.start_waypoint_ = std::make_shared<CartesianWaypoint>(
+      Eigen::Vector3d(-.20, .4, 0.2), Eigen::Quaterniond(0, 0, 1.0, 0), "base_link");
 
   // Specify a Joint Waypoint as the finish
   config.end_waypoint_ = std::make_shared<JointWaypoint>(std::vector<double>({ 0, 0, 0, -1.57, 0, 0, 0 }), joint_names);
@@ -329,12 +329,12 @@ TEST_F(TesseractPlanningTrajoptUnit, TrajoptFreespacePlanner4)
   config.num_steps_ = NUM_STEPS;
 
   // Specify a Cartesian Waypoint as the start
-  config.start_waypoint_ =
-      std::make_shared<CartesianWaypoint>(Eigen::Vector3d(-.20, .4, 0.2), Eigen::Quaterniond(0, 0, 1.0, 0));
+  config.start_waypoint_ = std::make_shared<CartesianWaypoint>(
+      Eigen::Vector3d(-.20, .4, 0.2), Eigen::Quaterniond(0, 0, 1.0, 0), "base_link");
 
   // Specify a Cartesian Waypoint as the finish
-  config.end_waypoint_ =
-      std::make_shared<CartesianWaypoint>(Eigen::Vector3d(-.20, .4, 0.2), Eigen::Quaterniond(0, 0, 1.0, 0));
+  config.end_waypoint_ = std::make_shared<CartesianWaypoint>(
+      Eigen::Vector3d(-.20, .4, 0.2), Eigen::Quaterniond(0, 0, 1.0, 0), "base_link");
 
   // Create test planner used for testing problem creation
   tesseract_tests::TrajOptFreespacePlannerTest test_planner;
@@ -377,8 +377,8 @@ TEST_F(TesseractPlanningTrajoptUnit, TrajoptArrayPlanner0)
   // These specify the series of points to be optimized
   for (int ind = 0; ind < NUM_STEPS; ind++)
   {
-    CartesianWaypoint::Ptr waypoint = std::make_shared<CartesianWaypoint>(Eigen::Vector3d(-0.2 + ind * .02, 0.4, 0.8),
-                                                                          Eigen::Quaterniond(0, 1.0, 0, 0));
+    CartesianWaypoint::Ptr waypoint = std::make_shared<CartesianWaypoint>(
+        Eigen::Vector3d(-0.2 + ind * .02, 0.4, 0.8), Eigen::Quaterniond(0, 1.0, 0, 0), "base_link");
     waypoint->setIsCritical(true);
     config.target_waypoints_.push_back(waypoint);
   }
@@ -428,8 +428,8 @@ TEST_F(TesseractPlanningTrajoptUnit, TrajoptArrayPlanner1)
   // These specify the series of points to be optimized
   for (int ind = 0; ind < NUM_STEPS; ind++)
   {
-    CartesianWaypoint::Ptr waypoint = std::make_shared<CartesianWaypoint>(Eigen::Vector3d(-0.2 + ind * .02, 0.4, 0.8),
-                                                                          Eigen::Quaterniond(0, 1.0, 0, 0));
+    CartesianWaypoint::Ptr waypoint = std::make_shared<CartesianWaypoint>(
+        Eigen::Vector3d(-0.2 + ind * .02, 0.4, 0.8), Eigen::Quaterniond(0, 1.0, 0, 0), "base_link");
     waypoint->setIsCritical(false);
     config.target_waypoints_.push_back(waypoint);
   }