<commit_before>#include <aikido/sampleable/IKSampleable.hpp>
#include <aikido/sampleable/TSR.hpp>
#include <aikido/util/RNG.hpp>
#include <gtest/gtest.h>
#include <Eigen/Dense>

using aikido::util::RNGWrapper;
using aikido::util::RNG;
using namespace aikido::sampleable;
using namespace dart::dynamics;


// Derives a fixture FooTest from BaseTest.
class IKConstraintTest : public ::testing::Test {
  protected:
    virtual void SetUp() {
  
      tsr = std::shared_ptr<TSR>(new TSR());
      rng = std::move(std::unique_ptr<RNG>(
        new RNGWrapper<std::default_random_engine>(0)));    

      // Setup for constrained IKPtr 
      SkeletonPtr manipulator = Skeleton::create("manipulator");

      // Root joint
      RevoluteJoint::Properties properties1;
      properties1.mAxis = Eigen::Vector3d::UnitY();
      properties1.mName = "root joint";
      bn1 = manipulator->createJointAndBodyNodePair<RevoluteJoint>(
        nullptr, properties1, 
        BodyNode::Properties(std::string("root_body"))).second;<commit_msg>Fixing test_IKSampleable.cpp<commit_after>#include <aikido/sampleable/IKSampleable.hpp>
#include <aikido/sampleable/TSR.hpp>
#include <aikido/util/RNG.hpp>
#include <gtest/gtest.h>
#include <Eigen/Dense>

using aikido::util::RNGWrapper;
using aikido::util::RNG;
using namespace aikido::sampleable;
using namespace dart::dynamics;


// Derives a fixture FooTest from BaseTest.
class IKConstraintTest : public ::testing::Test {
  protected:
    virtual void SetUp() {
  
      tsr = std::shared_ptr<TSR>(new TSR());
      rng.reset(new RNGWrapper<std::default_random_engine>(0)); 

      // Setup for constrained IKPtr 
      SkeletonPtr manipulator = Skeleton::create("manipulator");

      // Root joint
      RevoluteJoint::Properties properties1;
      properties1.mAxis = Eigen::Vector3d::UnitY();
      properties1.mName = "root joint";
      bn1 = manipulator->createJointAndBodyNodePair<RevoluteJoint>(
        nullptr, properties1, 
        BodyNode::Properties(std::string("root_body"))).second;
{'fraction_non_alphanumeric': 0.13146233382570163, 'fraction_numerical': 0.006893156080748399, 'mean_word_length': 4.375661375661376, 'pattern_counts': {'":': 0, '<': 20, '<?xml version=': 0, '>': 22, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '3932528', 'n_tokens_mistral': 683, 'n_tokens_neox': 650, 'n_words': 122}