From eb9f0b7035e492d77638e26b2f732e5ea9fafeaa Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Fri, 30 Jun 2023 00:52:58 -0500
Subject: [PATCH] Fix unit tests

---
 trajopt_ifopt/test/inverse_kinematics_constraint_unit.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/trajopt_ifopt/test/inverse_kinematics_constraint_unit.cpp b/trajopt_ifopt/test/inverse_kinematics_constraint_unit.cpp
index 2a958553..0943a18f 100644
--- 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
   {