[utils] Reorder the ExpectedLFController* function args

loco-3d · Jan 30, 2025 · a808958 · a808958
1 parent 9392c2a
commit a808958
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/tests/test_lf_controller.cpp b/tests/test_lf_controller.cpp
@@ -191,7 +191,7 @@ TEST_P(LFControllerTest, ComputeControl) {
 
   const auto sensor = MakeValidRandomSensorFor(*model_ptr);
   const auto control = MakeValidRandomControlFor(*model_ptr);
-  EXPECT_EQ(ExpectedLFControlFrom(sensor, control, *model_ptr),
+  EXPECT_EQ(ExpectedLFControlFrom(*model_ptr, sensor, control),
             ctrl.compute_control(sensor, control));
 }
 

diff --git a/tests/test_linear_feedback_controller.cpp b/tests/test_linear_feedback_controller.cpp
@@ -249,7 +249,7 @@ TEST_P(LinearFeedbackControllerTest, ComputeControl) {
       gains, refs, sensor.joint_state.position, sensor.joint_state.velocity);
 
   const auto expected_lf_control =
-      ExpectedLFControlFrom(sensor, control, *ctrl.get_robot_model());
+      ExpectedLFControlFrom(*ctrl.get_robot_model(), sensor, control);
 
   using time_point = linear_feedback_controller::TimePoint;
   const time_point first_call = time_point::clock::now();

diff --git a/tests/utils/lf_controller.hpp b/tests/utils/lf_controller.hpp
@@ -88,9 +88,9 @@ inline auto MakeValidRandomControlFor(
 }
 
 inline auto ExpectedLFControlFrom(
+    const linear_feedback_controller::RobotModelBuilder& model,
     const linear_feedback_controller_msgs::Eigen::Sensor& sensor,
-    const linear_feedback_controller_msgs::Eigen::Control& control,
-    const linear_feedback_controller::RobotModelBuilder& model)
+    const linear_feedback_controller_msgs::Eigen::Control& control)
     -> Eigen::VectorXd {
   Eigen::VectorXd out;