Unittest - fix getTrajectory function

MegMll · MegMll · commit 3c0066976dcf · 2025-10-23T10:12:42.000+02:00
diff --git a/unittest/joint-spline.cpp b/unittest/joint-spline.cpp
@@ -39,7 +39,7 @@ void addJointAndBody(
   model.appendBodyToJoint(idx, Y);
 }
 
-std::vector<SE3> getTrajectory(std::vector<SE3> & ctrlFrames)
+void getTrajectory(std::vector<SE3> & ctrlFrames)
 {
   Eigen::Matrix3d rotation;
   Eigen::Vector3d translation;
@@ -102,8 +102,6 @@ std::vector<SE3> getTrajectory(std::vector<SE3> & ctrlFrames)
   rotation << -0.500004, 0, 0.866023, 0, 1, 0, -0.866023, 0, -0.500004;
   translation << -0.00525, -0.396, 0;
   ctrlFrames.push_back(pinocchio::SE3(rotation, translation));
-
-  return ctrlFrames;
 }
 
 BOOST_AUTO_TEST_SUITE(JointSpline)

Original file line number	Diff line number	Diff line change
`@@ -39,7 +39,7 @@ void addJointAndBody(`
`39`	`39`	`model.appendBodyToJoint(idx, Y);`
`40`	`40`	`}`
`41`	`41`
`42`		`-std::vector<SE3> getTrajectory(std::vector<SE3> & ctrlFrames)`
	`42`	`+void getTrajectory(std::vector<SE3> & ctrlFrames)`
`43`	`43`	`{`
`44`	`44`	`Eigen::Matrix3d rotation;`
`45`	`45`	`Eigen::Vector3d translation;`
`@@ -102,8 +102,6 @@ std::vector<SE3> getTrajectory(std::vector<SE3> & ctrlFrames)`
`102`	`102`	`rotation << -0.500004, 0, 0.866023, 0, 1, 0, -0.866023, 0, -0.500004;`
`103`	`103`	`translation << -0.00525, -0.396, 0;`
`104`	`104`	`ctrlFrames.push_back(pinocchio::SE3(rotation, translation));`
`105`		`-`
`106`		`- return ctrlFrames;`
`107`	`105`	`}`
`108`	`106`
`109`	`107`	`BOOST_AUTO_TEST_SUITE(JointSpline)`