File size: 2,809 Bytes
b3ccb77 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 | diff --git a/trajopt/src/kinematic_terms.cpp b/trajopt/src/kinematic_terms.cpp
index 0834c40..dd20e24 100644
--- a/trajopt/src/kinematic_terms.cpp
+++ b/trajopt/src/kinematic_terms.cpp
@@ -49,8 +49,8 @@ void validateTolerances(const char* who, const Eigen::VectorXd& lower, const Eig
if (lower.size() != 0 && (lower.array() > upper.array()).any())
{
std::stringstream ss;
- ss << who << ": Inverted tolerance band — lower > upper at one or more indices. lower: ["
- << lower.transpose() << "], upper: [" << upper.transpose() << "]";
+ ss << who << ": Inverted tolerance band — lower > upper at one or more indices. lower: [" << lower.transpose()
+ << "], upper: [" << upper.transpose() << "]";
throw std::runtime_error(ss.str());
}
}
diff --git a/trajopt/test/kinematic_costs_unit.cpp b/trajopt/test/kinematic_costs_unit.cpp
index de04096..a9cdb5e 100644
--- a/trajopt/test/kinematic_costs_unit.cpp
+++ b/trajopt/test/kinematic_costs_unit.cpp
@@ -392,19 +392,17 @@ TEST_F(KinematicCostsTest, CartPoseCalculators_InvertedToleranceBandThrows) //
lower << 0.0, 0.0, 0.0, 0.5, 0.0, 0.0; // rx lower = 0.5
upper << 0.0, 0.0, 0.0, -0.5, 0.0, 0.0; // rx upper = -0.5 → inverted
- EXPECT_THROW(
- CartPoseErrCalculator(kin, source_frame, target_frame, source_frame_offset, target_frame_offset, indices, lower,
- upper),
- std::runtime_error);
- EXPECT_THROW(
- CartPoseJacCalculator(kin, source_frame, target_frame, source_frame_offset, target_frame_offset, indices, lower,
- upper),
- std::runtime_error);
- EXPECT_THROW(DynamicCartPoseErrCalculator(kin, source_frame, target_frame, source_frame_offset, target_frame_offset,
- indices, lower, upper),
+ EXPECT_THROW(CartPoseErrCalculator(
+ kin, source_frame, target_frame, source_frame_offset, target_frame_offset, indices, lower, upper),
std::runtime_error);
- EXPECT_THROW(DynamicCartPoseJacCalculator(kin, source_frame, target_frame, source_frame_offset, target_frame_offset,
- indices, lower, upper),
+ EXPECT_THROW(CartPoseJacCalculator(
+ kin, source_frame, target_frame, source_frame_offset, target_frame_offset, indices, lower, upper),
+ std::runtime_error);
+ EXPECT_THROW(DynamicCartPoseErrCalculator(
+ kin, source_frame, target_frame, source_frame_offset, target_frame_offset, indices, lower, upper),
+ std::runtime_error);
+ EXPECT_THROW(DynamicCartPoseJacCalculator(
+ kin, source_frame, target_frame, source_frame_offset, target_frame_offset, indices, lower, upper),
std::runtime_error);
}
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