TU - apply new jointSpline constructor

Author: MegMll

unittest/casadi/joints.cpp

@@ -299,7 +299,6 @@ struct init<pinocchio::JointModelSplineTpl<Scalar, Options>>
     ctrlFrames.push_back(SE3::Identity());
     ctrlFrames.push_back(SE3(Matrix3s::Identity(), Vector3s(Scalar(0.), Scalar(0.), Scalar(1.))));
     JointModel jmodel(ctrlFrames, 1);
-    jmodel.buildJoint();
     jmodel.setIndexes(0, 0, 0);
     return jmodel;
   }

unittest/cppad/joints.cpp

@@ -201,7 +201,6 @@ struct TestADOnJoints
     ctrlFrames.push_back(SE3::Identity());
     ctrlFrames.push_back(SE3(Matrix3s::Identity(), Vector3s(Scalar(0.), Scalar(0.), Scalar(1.))));
     JointModel jmodel(ctrlFrames, 1);
-    jmodel.buildJoint();
     jmodel.setIndexes(0, 0, 0);
 
     test(jmodel);

unittest/joint-generic.cpp

@@ -290,7 +290,6 @@ struct init<pinocchio::JointModelSplineTpl<Scalar, Options>>
     ctrlFrames.push_back(SE3::Identity());
     ctrlFrames.push_back(SE3(Eigen::Matrix3d::Identity(), Eigen::Vector3d(0., 0., 1.)));
     JointModel jmodel(ctrlFrames, 1);
-    jmodel.buildJoint();
     jmodel.setIndexes(0, 0, 0);
     return jmodel;
   }

unittest/joint-spline.cpp

@@ -48,7 +48,6 @@ BOOST_AUTO_TEST_CASE(vsPrismatic)
   ctrlFrames.push_back(SE3(Eigen::Matrix3d::Identity(), Eigen::Vector3d(0., 0., 1.)));
 
   JointModelSpline jmodel(ctrlFrames, 1);
-  jmodel.buildJoint();
   JointDataSpline jdata = jmodel.createData();
 
   jmodel.setIndexes(0, 0, 0);
@@ -96,7 +95,6 @@ BOOST_AUTO_TEST_CASE(vsFiniteDiff)
   ctrlFrames.push_back(SE3::Random());
 
   JointModelSpline jmodel(ctrlFrames);
-  jmodel.buildJoint();
   JointDataSpline jdata = jmodel.createData();
 
   jmodel.setIndexes(0, 0, 0);

unittest/serialization.cpp

@@ -423,7 +423,6 @@ struct init<pinocchio::JointModelSplineTpl<Scalar, Options>>
     ctrlFrames.push_back(pinocchio::SE3::Identity());
     ctrlFrames.push_back(pinocchio::SE3(Eigen::Matrix3d::Identity(), Eigen::Vector3d(0., 0., 1.)));
     JointModel jmodel(ctrlFrames, 1);
-    jmodel.buildJoint();
     jmodel.setIndexes(0, 0, 0);
     return jmodel;
   }