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Index: gazebo-8.0.0/test/integration/physics_link.cc
===================================================================
--- gazebo-8.0.0.orig/test/integration/physics_link.cc
+++ gazebo-8.0.0/test/integration/physics_link.cc
@@ -199,7 +199,7 @@ void PhysicsLinkTest::AddForce(const std
gzdbg << "World != link == inertial frames, no offset" << std::endl;
model->SetLinkWorldPose(ignition::math::Pose3d(
ignition::math::Vector3d(2, 3, 4),
- ignition::math::Vector3d(0, IGN_PI/2.0, 1)), link);
+ ignition::math::Quaterniond(0, IGN_PI/2.0, 1)), link);
EXPECT_NE(ignition::math::Pose3d::Zero, link->WorldPose());
EXPECT_EQ(link->WorldPose(), link->WorldInertialPose());
this->AddLinkForceTwoWays(world, link, ignition::math::Vector3d(-1, 10, 5));
@@ -215,7 +215,7 @@ void PhysicsLinkTest::AddForce(const std
model->SetLinkWorldPose(ignition::math::Pose3d::Zero, link);
ignition::math::Pose3d inertialPose = ignition::math::Pose3d(
ignition::math::Vector3d(1, 5, 8),
- ignition::math::Vector3d(IGN_PI/3.0, IGN_PI*1.5, IGN_PI/4));
+ ignition::math::Quaterniond(IGN_PI/3.0, IGN_PI*1.5, IGN_PI/4));
link->GetInertial()->SetCoG(inertialPose);
EXPECT_EQ(ignition::math::Pose3d::Zero, link->WorldPose());
EXPECT_EQ(inertialPose, link->WorldInertialPose());
@@ -224,9 +224,9 @@ void PhysicsLinkTest::AddForce(const std
gzdbg << "World != link != inertial frames, with offset" << std::endl;
model->SetLinkWorldPose(ignition::math::Pose3d(
ignition::math::Vector3d(5, 10, -4),
- ignition::math::Vector3d(0, IGN_PI/2.0, IGN_PI/6)), link);
+ ignition::math::Quaterniond(0, IGN_PI/2.0, IGN_PI/6)), link);
inertialPose = ignition::math::Pose3d(ignition::math::Vector3d(0, -5, 10),
- ignition::math::Vector3d(0, 2.0*IGN_PI, IGN_PI/3));
+ ignition::math::Quaterniond(0, 2.0*IGN_PI, IGN_PI/3));
link->GetInertial()->SetCoG(inertialPose);
this->AddLinkForceTwoWays(world, link, ignition::math::Vector3d(1, 2, 1),
ignition::math::Vector3d(-2, 0.5, 1));
@@ -235,9 +235,9 @@ void PhysicsLinkTest::AddForce(const std
<< std::endl;
model->SetLinkWorldPose(ignition::math::Pose3d(
ignition::math::Vector3d(-1.5, 0.8, 3),
- ignition::math::Vector3d(-IGN_PI/4.5, IGN_PI/3.0, IGN_PI*1.2)), link);
+ ignition::math::Quaterniond(-IGN_PI/4.5, IGN_PI/3.0, IGN_PI*1.2)), link);
inertialPose = ignition::math::Pose3d(ignition::math::Vector3d(1, 0, -5.6),
- ignition::math::Vector3d(IGN_PI/9, 0, IGN_PI*3));
+ ignition::math::Quaterniond(IGN_PI/9, 0, IGN_PI*3));
link->GetInertial()->SetCoG(inertialPose);
link->SetLinearVel(ignition::math::Vector3d(2, -0.1, 5));
link->SetAngularVel(ignition::math::Vector3d(-IGN_PI/10, 0, 0.0001));
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