Helper function doesn't need to be public actually

moveit · Nov 10, 2023 · b20b14e · b20b14e
1 parent 0c134b7
commit b20b14e
Showing 1 changed file with 6 additions and 7 deletions.
diff --git a/moveit_ros/moveit_servo/tests/servo_cpp_fixture.hpp b/moveit_ros/moveit_servo/tests/servo_cpp_fixture.hpp
@@ -49,13 +49,6 @@
 
 class ServoCppFixture : public testing::Test
 {
-public:
-  /// Helper function to get the current pose of a specified frame.
-  Eigen::Isometry3d getCurrentPose(const std::string& target_frame) const
-  {
-    return planning_scene_monitor_->getStateMonitor()->getCurrentState()->getGlobalLinkTransform(target_frame);
-  }
-
 protected:
   ServoCppFixture()
   {
@@ -73,6 +66,12 @@ class ServoCppFixture : public testing::Test
         std::make_shared<moveit_servo::Servo>(servo_test_node_, servo_param_listener_, planning_scene_monitor_);
   }
 
+  /// Helper function to get the current pose of a specified frame.
+  Eigen::Isometry3d getCurrentPose(const std::string& target_frame) const
+  {
+    return planning_scene_monitor_->getStateMonitor()->getCurrentState()->getGlobalLinkTransform(target_frame);
+  }
+
   std::shared_ptr<rclcpp::Node> servo_test_node_;
   std::shared_ptr<const servo::ParamListener> servo_param_listener_;
   servo::Params servo_params_;