Update due to changes with tesseract environment getJointGroup and getKinematicGroup

Author: Levi-Armstrong

trajopt/test/kinematic_costs_unit.cpp

@@ -80,7 +80,7 @@ TEST_F(KinematicCostsTest, CartPoseJacCalculator)  // NOLINT
 {
   CONSOLE_BRIDGE_logDebug("KinematicCostsTest, CartPoseJacCalculator");
 
-  const tesseract_kinematics::JointGroup::Ptr kin = env_->getJointGroup("right_arm");
+  const tesseract_kinematics::JointGroup::ConstPtr kin = env_->getJointGroup("right_arm");
 
   const std::string source_frame = env_->getRootLinkName();
   const std::string target_frame = "r_gripper_tool_frame";

trajopt_ifopt/test/cartesian_line_constraint_unit.cpp

@@ -29,7 +29,7 @@ class CartesianLineConstraintUnit : public testing::TestWithParam<const char*>
   Environment::Ptr env = std::make_shared<Environment>();
   std::shared_ptr<ifopt::Composite> variables = std::make_shared<ifopt::Composite>("variable-sets", false);
 
-  tesseract_kinematics::JointGroup::Ptr manip;
+  tesseract_kinematics::JointGroup::ConstPtr manip;
   CartLineInfo info;
   trajopt_ifopt::JointPosition::Ptr var;
 

trajopt_ifopt/test/cartesian_position_constraint_unit.cpp

@@ -58,7 +58,7 @@ class CartesianPositionConstraintUnit : public testing::TestWithParam<const char
   Environment::Ptr env = std::make_shared<Environment>();
   ifopt::Problem nlp;
 
-  tesseract_kinematics::JointGroup::Ptr kin_group;
+  tesseract_kinematics::JointGroup::ConstPtr kin_group;
   CartPosConstraint::Ptr constraint;
 
   Eigen::Index n_dof{ -1 };