precommit fixes

Signed-off-by: Dhruv Patel <dhruvpatel2991998@gmail.com>
This commit is contained in:
Dhruv Patel 2025-07-16 11:19:22 +02:00
parent ea2706c038
commit c642e622f6
2 changed files with 5 additions and 7 deletions

View File

@ -50,7 +50,7 @@ namespace stages {
class NoOp : public PropagatingEitherWay
{
public:
NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name) {};
NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name){};
private:
bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr& scene, SubTrajectory& /*trajectory*/,

View File

@ -173,17 +173,15 @@ TEST_F(PandaMoveRelativeCartesian, cartesianRotateAttachedIKFrame) {
TEST_F(PandaMoveRelativeJoint, jointOutsideBound) {
// move joint inside limit
auto initial_jpos = scene->getCurrentState().getJointPositions("panda_joint7");
move->setDirection([initial_jpos] {
return std::map<std::string, double>{ { "panda_joint7", 2.0 - *initial_jpos } };
}());
move->setDirection(
[initial_jpos] { return std::map<std::string, double>{ { "panda_joint7", 2.0 - *initial_jpos } }; }());
EXPECT_TRUE(this->t.plan()) << "Plan should succeed, joint inside limit";
this->t.reset();
// move joint outside limit: 2.8973
move->setDirection([initial_jpos] {
return std::map<std::string, double>{ { "panda_joint7", 3.0 - *initial_jpos } };
}());
move->setDirection(
[initial_jpos] { return std::map<std::string, double>{ { "panda_joint7", 3.0 - *initial_jpos } }; }());
EXPECT_FALSE(this->t.plan()) << "Plan should fail, joint outside limit";
}