From 43bdb67d90a6662c88416b0ad0b19761c79ea6ef Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 8 Jul 2021 16:15:38 +0200
Subject: [PATCH] fixing server test
---
source/Navigation/libraries/server/execution/DummyExecutor.h | 3 ++-
source/Navigation/libraries/server/test/serverTest.cpp | 2 +-
2 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/source/Navigation/libraries/server/execution/DummyExecutor.h b/source/Navigation/libraries/server/execution/DummyExecutor.h
index 008dd2ba..d5d075e5 100644
--- a/source/Navigation/libraries/server/execution/DummyExecutor.h
+++ b/source/Navigation/libraries/server/execution/DummyExecutor.h
@@ -11,6 +11,7 @@
#include <VirtualRobot/Robot.h>
// Navigation
+#include "Navigation/libraries/core/types.h"
#include <Navigation/libraries/server/execution/ExecutorInterface.h>
@@ -43,7 +44,7 @@ namespace armarx::nav::server
const Eigen::Affine3f diff; // = Eigen::Affine3f(Eigen::Translation3f(twist.linear * dt)) * Eigen::Affine3f(Eigen::AngleAxisf(dt, twist.angular)));
- robot->setGlobalPose(robot->getGlobalPose() * diff);
+ robot->setGlobalPose(robot->getGlobalPose() * diff.matrix());
}
private:
diff --git a/source/Navigation/libraries/server/test/serverTest.cpp b/source/Navigation/libraries/server/test/serverTest.cpp
index 743373f0..6695d314 100644
--- a/source/Navigation/libraries/server/test/serverTest.cpp
+++ b/source/Navigation/libraries/server/test/serverTest.cpp
@@ -62,7 +62,7 @@ BOOST_AUTO_TEST_CASE(testNavigator)
traj_ctrl::TrajectoryFollowingControllerParams(), scene)};
// Executor.
- server::DummyExecturo executor{scene.robot};
+ server::DummyExecutor executor{scene.robot, server::DummyExecutor::Params()};
server::Navigator navigator(stack, scene, executor);
navigator.moveTo(goal, core::NavigationFrames::Absolute);
--
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