Revert "unittest: Use the not deprecated GeometryObject constructor"

This reverts commit 43eba1e.
loco-3d · May 24, 2024 · fa1b641 · fa1b641
1 parent 43eba1e
commit fa1b641
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/unittest/factory/cost.cpp b/unittest/factory/cost.cpp
@@ -229,16 +229,16 @@ boost::shared_ptr<crocoddyl::CostModelAbstract> CostModelFactory::create(
   pinocchio::GeomIndex ig_frame =
       geometry->addGeometryObject(pinocchio::GeometryObject(
           "frame", frame_index,
-          state->get_pinocchio()->frames[frame_index].parent, frame_SE3,
-          CollisionGeometryPtr(new hpp::fcl::Capsule(0, alpha))));
+          state->get_pinocchio()->frames[frame_index].parent,
+          CollisionGeometryPtr(new hpp::fcl::Capsule(0, alpha)), frame_SE3));
   pinocchio::GeomIndex ig_obs =
       geometry->addGeometryObject(pinocchio::GeometryObject(
           "obs", state->get_pinocchio()->getFrameId("universe"),
           state->get_pinocchio()
               ->frames[state->get_pinocchio()->getFrameId("universe")]
               .parent,
-          frame_SE3_obstacle,
-          CollisionGeometryPtr(new hpp::fcl::Capsule(0, beta))));
+          CollisionGeometryPtr(new hpp::fcl::Capsule(0, beta)),
+          frame_SE3_obstacle));
   geometry->addCollisionPair(pinocchio::CollisionPair(ig_frame, ig_obs));
 
   switch (cost_type) {

diff --git a/unittest/factory/residual.cpp b/unittest/factory/residual.cpp
@@ -91,15 +91,15 @@ ResidualModelFactory::create(ResidualModelTypes::Type residual_type,
   pinocchio::GeomIndex ig_frame =
       geometry->addGeometryObject(pinocchio::GeometryObject(
           "frame", frame_index,
-          state->get_pinocchio()->frames[frame_index].parent, frame_SE3,
-          CollisionGeometryPtr(new hpp::fcl::Sphere(0))));
+          state->get_pinocchio()->frames[frame_index].parent,
+          CollisionGeometryPtr(new hpp::fcl::Sphere(0)), frame_SE3));
   pinocchio::GeomIndex ig_obs =
       geometry->addGeometryObject(pinocchio::GeometryObject(
           "obs", state->get_pinocchio()->getFrameId("universe"),
           state->get_pinocchio()
               ->frames[state->get_pinocchio()->getFrameId("universe")]
-              .parent, frame_SE3_obstacle,
-          CollisionGeometryPtr(new hpp::fcl::Sphere(0))));
+              .parent,
+          CollisionGeometryPtr(new hpp::fcl::Sphere(0)), frame_SE3_obstacle));
   geometry->addCollisionPair(pinocchio::CollisionPair(ig_frame, ig_obs));
 #endif  // PINOCCHIO_WITH_HPP_FCL
   if (nu == std::numeric_limits<std::size_t>::max()) {