From 566b795ccbb86342c0ff62805605ecfb9d2a6df6 Mon Sep 17 00:00:00 2001 From: Tyler Marr Date: Fri, 12 Jan 2024 10:57:54 -0600 Subject: [PATCH] Fix failing test from different rotational error calc methods --- trajopt/test/kinematic_costs_unit.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/trajopt/test/kinematic_costs_unit.cpp b/trajopt/test/kinematic_costs_unit.cpp index 3ea6a997b..a44860700 100644 --- a/trajopt/test/kinematic_costs_unit.cpp +++ b/trajopt/test/kinematic_costs_unit.cpp @@ -79,7 +79,8 @@ TEST_F(KinematicCostsTest, CartPoseJacCalculator) // NOLINT std::string source_frame = env_->getRootLinkName(); std::string target_frame = "r_gripper_tool_frame"; Eigen::Isometry3d source_frame_offset = env_->getState().link_transforms.at(target_frame); - Eigen::Isometry3d target_frame_offset = Eigen::Isometry3d::Identity(); + Eigen::Isometry3d target_frame_offset = + Eigen::Isometry3d::Identity() * Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitZ()); Eigen::VectorXd values(7); values << -1.1, 1.2, -3.3, -1.4, 5.5, -1.6, 7.7;