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Remove unused IsViolating() function from TestOpti #194

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Jun 21, 2024
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Remove unused IsViolating() function from TestOpti #194

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1 change: 0 additions & 1 deletion test/include/TestOpti.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,6 @@ class TestOpti {

double GetMaximizeObjective() { return maximizeObjective; }
double GetMinimizeObjective() { return minimizeObjective; }
bool IsViolating() { return isViolating; }
void AddIntermediateCallback(std::function<void()> callback);
};

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4 changes: 0 additions & 4 deletions test/src/SwerveTrajoptUtilTest.cpp
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Expand Up @@ -65,8 +65,6 @@ TEST_CASE("SwerveTrajoptUtil - ApplyKinematicsConstraints()",
std::vector<size_t> N{2, 4};

trajopt::ApplyKinematicsConstraints(opti, x, x, x, v, v, v, a, a, a, dt, N);

CHECK_FALSE(opti.IsViolating());
}

TEST_CASE("SwerveTrajoptUtil - ApplyDynamicsConstraints()",
Expand All @@ -83,6 +81,4 @@ TEST_CASE("SwerveTrajoptUtil - ApplyDynamicsConstraints()",

trajopt::ApplyDynamicsConstraints(opti, ax, ay, alpha, Fx_net, Fy_net,
tau_net, mass, moi);

CHECK_FALSE(opti.IsViolating());
}
2 changes: 0 additions & 2 deletions test/src/TrajoptUtilTest.cpp
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Expand Up @@ -26,7 +26,6 @@ TEST_CASE("TrajoptUtil - ApplyDiscreteTimeObjective()", "[TrajoptUtil]") {
std::vector<size_t> N = {20, 15};
trajopt::ApplyDiscreteTimeObjective(opti, dt, N);
CHECK(opti.GetMinimizeObjective() == 25);
CHECK(opti.IsViolating());
}

TEST_CASE("TrajoptUtil - ApplyIntervalSet1d()", "[TrajoptUtil]") {
Expand Down Expand Up @@ -60,7 +59,6 @@ TEST_CASE("TrajoptUtil - ApplyIntervalSet1d()", "[TrajoptUtil]") {
{case4, 5.0, true}}) {
TestOpti opti;
trajopt::ApplyIntervalSet1dConstraint(opti, test.val, test.set);
CHECK(opti.IsViolating() == test.isViolating);
}
}

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