Fix optional test

Signed-off-by: f0reachARR <f0reach@f0reach.me>

common/object_recognition_utils/test/src/test_predicted_path_utils.cpp

@@ -76,7 +76,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
     for (double t = 0.0; t < 9.0 + 1e-6; t += 1.0) {
       const auto p = calcInterpolatedPose(path, t);
 
-      EXPECT_NE(p, boost::none);
+      EXPECT_TRUE(p);
       EXPECT_NEAR(p->position.x, t * 1.0, epsilon);
       EXPECT_NEAR(p->position.y, 0.0, epsilon);
       EXPECT_NEAR(p->position.z, 0.0, epsilon);
@@ -93,7 +93,7 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
     for (double t = 0.0; t < 9.0; t += 0.3) {
       const auto p = calcInterpolatedPose(path, t);
 
-      EXPECT_NE(p, boost::none);
+      EXPECT_TRUE(p);
       EXPECT_NEAR(p->position.x, t * 1.0, epsilon);
       EXPECT_NEAR(p->position.y, 0.0, epsilon);
       EXPECT_NEAR(p->position.z, 0.0, epsilon);
@@ -109,20 +109,20 @@ TEST(predicted_path_utils, testCalcInterpolatedPose)
     // Negative time
     {
       const auto p = calcInterpolatedPose(path, -1.0);
-      EXPECT_EQ(p, boost::none);
+      EXPECT_FALSE(p);
     }
 
     // Over the time horizon
     {
       const auto p = calcInterpolatedPose(path, 11.0);
-      EXPECT_EQ(p, boost::none);
+      EXPECT_FALSE(p);
     }
 
     // Empty Path
     {
       PredictedPath empty_path;
       const auto p = calcInterpolatedPose(empty_path, 5.0);
-      EXPECT_EQ(p, boost::none);
+      EXPECT_FALSE(p);
     }
   }
 }

common/signal_processing/test/src/lowpass_filter_1d_test.cpp

@@ -24,7 +24,7 @@ TEST(lowpass_filter_1d, filter)
   LowpassFilter1d lowpass_filter_1d(0.1);
 
   // initial state
-  EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none);
+  EXPECT_FALSE(lowpass_filter_1d.getValue());
 
   // random filter
   EXPECT_NEAR(lowpass_filter_1d.filter(0.0), 0.0, epsilon);
@@ -34,7 +34,7 @@ TEST(lowpass_filter_1d, filter)
 
   // reset without value
   lowpass_filter_1d.reset();
-  EXPECT_EQ(lowpass_filter_1d.getValue(), boost::none);
+  EXPECT_FALSE(lowpass_filter_1d.getValue());
 
   // reset with value
   lowpass_filter_1d.reset(-1.1);

common/signal_processing/test/src/lowpass_filter_test.cpp

@@ -41,7 +41,7 @@ TEST(lowpass_filter_twist, filter)
   LowpassFilterTwist lowpass_filter_(0.1);
 
   {  // initial state
-    EXPECT_EQ(lowpass_filter_.getValue(), boost::none);
+    EXPECT_FALSE(lowpass_filter_.getValue());
   }
 
   {  // random filter
@@ -58,7 +58,7 @@ TEST(lowpass_filter_twist, filter)
 
   {  // reset without value
     lowpass_filter_.reset();
-    EXPECT_EQ(lowpass_filter_.getValue(), boost::none);
+    EXPECT_FALSE(lowpass_filter_.getValue());
   }
 
   {  // reset with value