[Refactoring] Fix unit-tests

tests/configuration-shooters.cc

@@ -33,13 +33,12 @@ namespace pin_test = hpp::pinocchio::unittest;
 template <typename CS_t>
 void basic_test (CS_t cs, DevicePtr_t robot)
 {
+  hpp::core::Configuration_t q;
   for (int i = 0; i < 10; ++i)
   {
-    hpp::core::ConfigurationPtr_t cptr = cs->shoot();
-    BOOST_REQUIRE (cptr);
-    hpp::core::Configuration_t c = *cptr;
+    cs->shoot(q);
     hpp::pinocchio::ArrayXb unused(robot->numberDof());
-    BOOST_CHECK(!hpp::pinocchio::saturate(robot, c, unused));
+    BOOST_CHECK(!hpp::pinocchio::saturate(robot, q, unused));
   }
 }
 
@@ -61,5 +60,7 @@ BOOST_AUTO_TEST_CASE (gaussian)
 
   cs->sigma (0);
 
-  BOOST_CHECK(cs->shoot()->isApprox(cs->center()));
+  hpp::core::Configuration_t q;
+  cs->shoot(q);
+  BOOST_CHECK(q.isApprox(cs->center()));
 }

tests/explicit-relative-transformation.cc

@@ -79,7 +79,7 @@ BOOST_AUTO_TEST_CASE (two_freeflyers)
 {
   DevicePtr_t robot = createRobot();
   BOOST_REQUIRE (robot);
-  configurationShooter::UniformPtr_t cs = configurationShooter::Uniform::create(robot);
+  ConfigurationShooterPtr_t cs = configurationShooter::Uniform::create(robot);
 
   JointPtr_t object2 = robot->getJointByName("obj2/root_joint");
   JointPtr_t object1  = robot->getJointByName("obj1/root_joint");
@@ -171,7 +171,7 @@ BOOST_AUTO_TEST_CASE (two_frames_on_freeflyer)
 {
   DevicePtr_t robot = createRobot();
   BOOST_REQUIRE (robot);
-  configurationShooter::UniformPtr_t cs = configurationShooter::Uniform::create(robot);
+  ConfigurationShooterPtr_t cs = configurationShooter::Uniform::create(robot);
 
   JointPtr_t object2 = robot->getJointByName("obj2/root_joint");
   JointPtr_t object1  = robot->getJointByName("obj1/root_joint");
@@ -266,7 +266,7 @@ BOOST_AUTO_TEST_CASE (compare_to_relative_transform)
 {
   DevicePtr_t robot = createRobot();
   BOOST_REQUIRE (robot);
-  configurationShooter::UniformPtr_t cs = configurationShooter::Uniform::create(robot);
+  ConfigurationShooterPtr_t cs = configurationShooter::Uniform::create(robot);
 
   JointPtr_t object2 = robot->getJointByName("obj2/root_joint");
   JointPtr_t object1  = robot->getJointByName("obj1/root_joint");

tests/roadmap-1.cc

@@ -369,7 +369,7 @@ BOOST_AUTO_TEST_CASE (nearestNeighbor) {
   hpp::pinocchio::value_type dist;
   using hpp::core::Nodes_t;
   Nodes_t knearest = r->nearestNeighbor()->KnearestSearch
-    (nodes[0]->configuration(), nodes[0]->connectedComponent (), 3, dist);
+    (*nodes[0]->configuration(), nodes[0]->connectedComponent (), 3, dist);
   for (Nodes_t::const_iterator it = knearest.begin (); it != knearest.end(); ++it) {
     BOOST_TEST_MESSAGE ("q = [" << (*it)->configuration()->transpose() << "] - dist : " << (*distance) (*nodes[0]->configuration(), *(*it)->configuration()));
   }

tests/test-kinodynamic.cc

@@ -410,7 +410,7 @@ BOOST_AUTO_TEST_CASE (kinodynamic) {
 
   // random tests with non null initial and final acceleration
 
-  configurationShooter::UniformPtr_t shooter = configurationShooter::Uniform::create(robot);
+  ConfigurationShooterPtr_t shooter = configurationShooter::Uniform::create(robot);
   ConfigurationPtr_t qr1,qr0;
   value_type t1,t2;
   for(size_t i = 0 ; i < 1000 ; i++){
@@ -607,7 +607,7 @@ BOOST_AUTO_TEST_CASE (kinodynamicOriented) {
   PathValidationReportPtr_t validationReport;
   PathPtr_t validPath;
 
-  configurationShooter::UniformPtr_t shooter = configurationShooter::Uniform::create(robot);
+  ConfigurationShooterPtr_t shooter = configurationShooter::Uniform::create(robot);
   ConfigurationPtr_t qr1,qr0;
   value_type t1,t2;
   for(size_t i = 0 ; i < 1000 ; i++){