Fixed new util_test

Signed-off-by: Ayush1285 <ayush.singhftw@gmail.com>

nav2_mppi_controller/test/utils/utils.hpp

@@ -85,7 +85,7 @@ void printMap(const nav2_costmap_2d::Costmap2D & costmap)
 /**
  * Print costmap with trajectory and goal point to stdout.
  * @param costmap map to be printed.
- * @param trajectory trajectory container (xt::tensor) to be printed.
+ * @param trajectory trajectory container (Eigen::Array) to be printed.
  * @param goal_point goal point to be printed.
  */
 template<typename TTrajectory>
@@ -172,7 +172,7 @@ void addObstacle(nav2_costmap_2d::Costmap2D * costmap, TestObstaclesSettings s)
 
 /**
  * Check the trajectory for collisions with obstacles on the map.
- * @param trajectory trajectory container (xt::tensor) to be checked.
+ * @param trajectory trajectory container (Eigen::Array) to be checked.
  * @param costmap costmap with obstacles
  * @return true - if the trajectory crosses an obstacle on the map, false - if
  * not

nav2_mppi_controller/test/utils_test.cpp

@@ -141,7 +141,7 @@ TEST(UtilsTests, WithTolTests)
   state.pose.pose = pose;
   models::Trajectories generated_trajectories;
   models::Path path_critic;
-  xt::xtensor<float, 1> costs;
+  Eigen::ArrayXf costs;
   float model_dt;
   CriticData data = {
     state, generated_trajectories, path_critic, goal,