Remove TrajoptUtilTest cases

test/src/SwerveTrajoptUtilTest.cpp

@@ -52,46 +52,3 @@ TEST_CASE("SwerveTrajoptUtil - SolveNetTorque()", "[SwerveTrajoptUtil]") {
 
   CHECK(tau_net.Value() == Catch::Approx(0.6553658).margin(1e-3));
 }
-
-TEST_CASE("SwerveTrajoptUtil - ApplyKinematicsConstraints()",
-          "[SwerveTrajoptUtil]") {
-  TestOpti opti;
-  //                         0      0      1      0      1      2     3
-  std::vector<double> x{1.0, -1.0, 9.0, -19.0, 33.0, 101.0, 41.0};
-  std::vector<double> v{1.0, -1.0, 5.0, -7.0, 13.0, 17.0, -15.0};
-  std::vector<double> a{1.0, -1.0, 3.0, -3.0, 5.0, 1.0, -8.0};
-  //                  dt{         2.0,   2.0,   4.0,   4.0,   4.0,   4.0}
-  std::vector<double> dt{2.0, 4.0};
-  std::vector<size_t> N{2, 4};
-
-  std::vector<double> xcos;
-  xcos.reserve(x.size());
-  std::transform(x.cbegin(), x.cend(), std::back_inserter(xcos),
-                 std::cos<double>);
-  std::vector<double> xsin;
-  xsin.reserve(x.size());
-  std::transform(x.cbegin(), x.cend(), std::back_inserter(xsin),
-                 std::sin<double>);
-  trajopt::ApplyKinematicsConstraints(opti, x, x, xcos, xsin, v, v, v, a, a, a,
-                                      dt, N);
-
-  CHECK_FALSE(opti.IsViolating());
-}
-
-TEST_CASE("SwerveTrajoptUtil - ApplyDynamicsConstraints()",
-          "[SwerveTrajoptUtil]") {
-  TestOpti opti;
-  constexpr double ax = 1.0;
-  constexpr double ay = -2.0;
-  constexpr double alpha = 9.0;
-  constexpr double Fx_net = 45.0;
-  constexpr double Fy_net = -90.0;
-  constexpr double tau_net = 54.0;
-  constexpr double mass = 45.0;
-  constexpr double moi = 6.0;
-
-  trajopt::ApplyDynamicsConstraints(opti, ax, ay, alpha, Fx_net, Fy_net,
-                                    tau_net, mass, moi);
-
-  CHECK_FALSE(opti.IsViolating());
-}