From 00ede6c8783900eb6a3536183d04fb00c0582795 Mon Sep 17 00:00:00 2001
From: Arturo Laurenzi <arturo.laurenzi@iit.it>
Date: Wed, 16 Oct 2024 10:10:05 +0000
Subject: [PATCH] fix tests compilation

---
 tests/solvers/TestBasicAlgebra.cpp | 7 ++-----
 tests/solvers/TestOSQP.cpp         | 1 +
 tests/solvers/TestQPOases.cpp      | 2 +-
 tests/solvers/TesteiQuadProg.cpp   | 1 +
 tests/solvers/TestqpSWIFT.cpp      | 1 +
 5 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/tests/solvers/TestBasicAlgebra.cpp b/tests/solvers/TestBasicAlgebra.cpp
index b78c68f48..c6a04293d 100644
--- a/tests/solvers/TestBasicAlgebra.cpp
+++ b/tests/solvers/TestBasicAlgebra.cpp
@@ -4,7 +4,7 @@
 #include <qpOASES/SQProblem.hpp>
 #include <chrono>
 #include <gtest/gtest.h>
-#include <XBotInterface/MatLogger.hpp>
+#include <matlogger2/matlogger2.h>
 
 namespace{
 class testBasicAlgebra: public ::testing::Test{
@@ -281,7 +281,7 @@ TEST_F(testBasicAlgebra, testqpOASES)
 
 TEST_F(testBasicAlgebra, checkProductOptimization)
 {
-    auto logger = XBot::MatLogger::getLogger("/tmp/checkProductOptimization");
+    auto logger = XBot::MatLogger2::MakeLogger("/tmp/checkProductOptimization");
     
     
     
@@ -473,9 +473,6 @@ TEST_F(testBasicAlgebra, checkProductOptimization)
         EXPECT_NEAR((H-H_naive).norm(), 0.0, 1e-9);
     }
     
-    
-    logger->flush();
-    
 }
 
 }
diff --git a/tests/solvers/TestOSQP.cpp b/tests/solvers/TestOSQP.cpp
index 1f890daed..a367d2eee 100644
--- a/tests/solvers/TestOSQP.cpp
+++ b/tests/solvers/TestOSQP.cpp
@@ -8,6 +8,7 @@
 #include <OpenSoT/tasks/velocity/Cartesian.h>
 #include <OpenSoT/solvers/iHQP.h>
 #include <OpenSoT/constraints/velocity/VelocityLimits.h>
+#include <kdl/frames_io.hpp>
 
 std::string relative_path = OPENSOT_TEST_PATH "configs/coman/configs/config_coman_RBDL.yaml";
 std::string _path_to_cfg = relative_path;
diff --git a/tests/solvers/TestQPOases.cpp b/tests/solvers/TestQPOases.cpp
index fb10e9d15..62bff475f 100644
--- a/tests/solvers/TestQPOases.cpp
+++ b/tests/solvers/TestQPOases.cpp
@@ -14,7 +14,7 @@
 #include <OpenSoT/tasks/velocity/MinimumEffort.h>
 #include <XBotInterface/ModelInterface.h>
 #include <OpenSoT/utils/AutoStack.h>
-
+#include <kdl/frames_io.hpp>
 
 std::string relative_path = OPENSOT_TEST_PATH "configs/coman/configs/config_coman_RBDL.yaml";
 std::string _path_to_cfg = relative_path;
diff --git a/tests/solvers/TesteiQuadProg.cpp b/tests/solvers/TesteiQuadProg.cpp
index 45e9e39db..f84e78cf4 100644
--- a/tests/solvers/TesteiQuadProg.cpp
+++ b/tests/solvers/TesteiQuadProg.cpp
@@ -7,6 +7,7 @@
 #include <OpenSoT/tasks/velocity/Cartesian.h>
 #include <OpenSoT/solvers/iHQP.h>
 #include <OpenSoT/constraints/velocity/VelocityLimits.h>
+#include <kdl/frames_io.hpp>
 
 std::string relative_path = OPENSOT_TEST_PATH "configs/coman/configs/config_coman_RBDL.yaml";
 std::string _path_to_cfg = relative_path;
diff --git a/tests/solvers/TestqpSWIFT.cpp b/tests/solvers/TestqpSWIFT.cpp
index d93da7a4c..d03546297 100644
--- a/tests/solvers/TestqpSWIFT.cpp
+++ b/tests/solvers/TestqpSWIFT.cpp
@@ -9,6 +9,7 @@
 #include <OpenSoT/tasks/velocity/Cartesian.h>
 #include <OpenSoT/solvers/iHQP.h>
 #include <OpenSoT/constraints/velocity/VelocityLimits.h>
+#include <kdl/frames_io.hpp>
 
 std::string relative_path = OPENSOT_TEST_PATH "configs/coman/configs/config_coman_RBDL.yaml";
 std::string _path_to_cfg = relative_path;