From f43f68e0a9836416a92a219eb3be97291785aabd Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 19 Sep 2014 14:06:16 +0200
Subject: [PATCH] Remove unnecessary assert
---
src/graph-path-validation.cc | 4 ++--
src/graph-steering-method.cc | 12 ++++++++----
2 files changed, 10 insertions(+), 6 deletions(-)
diff --git a/src/graph-path-validation.cc b/src/graph-path-validation.cc
index f50e2c9..6aa09cf 100644
--- a/src/graph-path-validation.cc
+++ b/src/graph-path-validation.cc
@@ -119,8 +119,8 @@ namespace hpp {
while (!possibleEdges.empty ()) {
constraints = constraintGraph_->pathConstraint (possibleEdges.back());
constraints->offsetFromConfig(newPath (newTmin));
- assert (constraints->isSatisfied (newPath (newTmin)));
- if (constraints->isSatisfied (newPath (newTmax))) {
+ if (constraints->isSatisfied (newPath (newTmin))
+ && constraints->isSatisfied (newPath (newTmax))) {
pathNoCollision->constraints (constraints);
impl_validate (pathNoCollision, reverse, validPart);
return false;
diff --git a/src/graph-steering-method.cc b/src/graph-steering-method.cc
index 64ea88a..f085af9 100644
--- a/src/graph-steering-method.cc
+++ b/src/graph-steering-method.cc
@@ -31,14 +31,18 @@ namespace hpp {
PathPtr_t GraphSteeringMethod::impl_compute (ConfigurationIn_t q1, ConfigurationIn_t q2) const
{
value_type length = (*distance_) (q1,q2);
- std::vector< graph::Edges_t > possibleEdges =
- graph_->getEdge (graph_->getNode (q1), graph_->getNode (q2));
+ std::vector< graph::Edges_t > possibleEdges;
+ try {
+ possibleEdges = graph_->getEdge (graph_->getNode (q1), graph_->getNode (q2));
+ } catch (const std::logic_error& e) {
+ hppDout (error, e.what ());
+ return PathPtr_t ();
+ }
ConstraintSetPtr_t constraints;
while (!possibleEdges.empty()) {
constraints = graph_->pathConstraint (possibleEdges.back());
constraints->offsetFromConfig(q1);
- assert (constraints->isSatisfied (q1));
- if (constraints->isSatisfied (q2)) {
+ if (constraints->isSatisfied (q1) && constraints->isSatisfied (q2)) {
PathPtr_t path = core::StraightPath::create (robot_.lock(), q1, q2, length);
path->constraints (constraints);
return path;
--
GitLab