Fix unit tests

tesseract-robotics · Jun 30, 2023 · eb9f0b7 · eb9f0b7
1 parent 909e276
commit eb9f0b7
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/trajopt_ifopt/test/inverse_kinematics_constraint_unit.cpp b/trajopt_ifopt/test/inverse_kinematics_constraint_unit.cpp
@@ -35,6 +35,7 @@ TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <tesseract_environment/environment.h>
 #include <tesseract_environment/utils.h>
 #include <tesseract_common/types.h>
+#include <tesseract_common/utils.h>
 TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <trajopt_ifopt/constraints/inverse_kinematics_constraint.h>
@@ -106,7 +107,7 @@ TEST_F(InverseKinematicsConstraintUnit, GetValue)  // NOLINT
 
   // Get the value (distance from IK position)
   Eigen::VectorXd values = constraint->GetValues();
-  EXPECT_TRUE(values.isApprox(Eigen::VectorXd::Zero(n_dof)));
+  EXPECT_TRUE(almostEqualRelativeAndAbs(values, Eigen::VectorXd::Zero(n_dof)));
 
   // Check that jac wrt constraint_var is identity
   {