From 0a751dbea06df87903b96d38e725522341b0f65a Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sat, 11 Jul 2020 18:49:41 +0200
Subject: [PATCH] [ManipulationPlanner] Remove tests that are always false.
- add assert to check that tests are always false.
---
src/manipulation-planner.cc | 10 ++--------
1 file changed, 2 insertions(+), 8 deletions(-)
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 5950d3b2..3e13a38c 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -398,10 +398,7 @@ namespace hpp {
itn2 != knearest.end (); ++itn2) {
bool _1to2 = (*itn1)->isOutNeighbor (*itn2);
bool _2to1 = (*itn1)->isInNeighbor (*itn2);
- if (_1to2 && _2to1) {
- hppDout (info, "the two nodes are already connected");
- continue;
- }
+ assert (!_1to2 || !_2to1);
const Configuration_t& q2 (*(*itn2)->configuration ());
graph::StatePtr_t s2 = getState (graph, *itn2);
@@ -445,10 +442,7 @@ namespace hpp {
continue;
bool _1to2 = (*itn1)->isOutNeighbor (*itn2);
bool _2to1 = (*itn1)->isInNeighbor (*itn2);
- if (_1to2 && _2to1) {
- hppDout (info, "the two nodes are already connected");
- continue;
- }
+ assert (!_1to2 || !_2to1);
const Configuration_t& q2 (*(*itn2)->configuration ());
graph::StatePtr_t s2 = getState (graph, *itn2);
assert (q1 != q2);
--
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