fix: update tests

aica-technology · Oct 18, 2024 · 633600b · 633600b
1 parent 9b7ae7e
commit 633600b
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Showing 2 changed files with 12 additions and 10 deletions.
diff --git a/source/state_representation/test/tests/space/cartesian/test_cartesian_state.cpp b/source/state_representation/test/tests/space/cartesian/test_cartesian_state.cpp
@@ -1092,12 +1092,13 @@ TEST(CartesianStateTest, TestUtilities) {
   EXPECT_THROW(string_to_cartesian_state_variable("foo"), exceptions::InvalidStateVariableException);
 
   auto state = CartesianState();
-  state.set_position(std::vector<double>{1.0, 2.0, 3.0});
-  EXPECT_TRUE(state.get_position().cwiseEqual(state.get_state_variable(CartesianStateVariable::POSITION)).all());
-  EXPECT_TRUE(state.get_position().cwiseEqual(state.get_state_variable(state_variable_type)).all());
+  auto new_values = Eigen::VectorXd(3);
+  new_values << 1.0, 2.0, 3.0;
+  state.set_position(new_values);
+  EXPECT_TRUE(state.get_state_variable(CartesianStateVariable::POSITION).cwiseEqual(new_values).all());
+  EXPECT_TRUE(state.get_state_variable(state_variable_type).cwiseEqual(new_values).all());
 
-  Eigen::VectorXd new_values(3);
   new_values << 4.0, 5.0, 6.0;
   state.set_state_variable(new_values, CartesianStateVariable::POSITION);
   EXPECT_TRUE(state.get_position().cwiseEqual(new_values).all());
-}
+}
diff --git a/source/state_representation/test/tests/space/joint/test_joint_state.cpp b/source/state_representation/test/tests/space/joint/test_joint_state.cpp
@@ -609,12 +609,13 @@ TEST(JointStateTest, TestUtilities) {
   EXPECT_THROW(string_to_joint_state_variable("foo"), exceptions::InvalidStateVariableException);
 
   auto state = JointState("foo", 3);
-  state.set_positions(std::vector<double>{1.0, 2.0, 3.0});
-  EXPECT_TRUE(state.get_positions().cwiseEqual(state.get_state_variable(JointStateVariable::POSITIONS)).all());
-  EXPECT_TRUE(state.get_positions().cwiseEqual(state.get_state_variable(state_variable_type)).all());
+  auto new_values = Eigen::VectorXd(3);
+  new_values << 1.0, 2.0, 3.0;
+  state.set_positions(new_values);
+  EXPECT_TRUE(state.get_state_variable(JointStateVariable::POSITIONS).cwiseEqual(new_values).all());
+  EXPECT_TRUE(state.get_state_variable(state_variable_type).cwiseEqual(new_values).all());
 
-  Eigen::VectorXd new_values(3);
   new_values << 4.0, 5.0, 6.0;
   state.set_state_variable(new_values, JointStateVariable::POSITIONS);
   EXPECT_TRUE(state.get_positions().cwiseEqual(new_values).all());
-}
+}