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Replace non-portable M_PI reference with fcl::constants invocation #264

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Mar 10, 2018
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Replace non-portable M_PI reference with fcl::constants invocation #264

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7 changes: 4 additions & 3 deletions test/test_fcl_cylinder_half_space.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,9 +35,9 @@

#include <iostream>

#include "fcl/fcl.h"
#include <gtest/gtest.h>

#include "gtest/gtest.h"
#include "fcl/fcl.h"

using namespace std;
using namespace fcl;
Expand Down Expand Up @@ -77,7 +77,8 @@ void test_collision_cylinder_half_space(fcl::GJKSolverType solver_type)
EXPECT_NEAR(contacts[0].penetration_depth, 0.051, kTolerance);

// Now perform the same test but with the cylinder's z axis Cz pointing down.
X_WC.linear() = AngleAxis<S>(M_PI, Vector3d::UnitX()).matrix();
X_WC.linear() = AngleAxis<S>(fcl::constants<S>::pi(),
Vector3d::UnitX()).matrix();
X_WC.translation() = Vector3<S>(0, 0, 0.049);
cylinder_co.setTransform(X_WC);

Expand Down