fix use of MANIF_ASSERT

xuhuairuogu · Nov 8, 2020 · febb030 · febb030
1 parent 87d1ea8
commit febb030
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Showing 5 changed files with 18 additions and 18 deletions.
diff --git a/include/manif/impl/se2/SE2_base.h b/include/manif/impl/se2/SE2_base.h
@@ -415,10 +415,10 @@ struct AssignmentEvaluatorImpl<SE2Base<Derived>>
   {
     using std::abs;
     using Scalar = typename SE2Base<Derived>::Scalar;
-    MANIF_CHECK(abs(data.template tail<2>().norm()-Scalar(1)) <
-                Constants<Scalar>::eps_s,
-                "SE2 assigned data not normalized !",
-                invalid_argument);
+    MANIF_ASSERT(abs(data.template tail<2>().norm()-Scalar(1)) <
+                 Constants<Scalar>::eps_s,
+                 "SE2 assigned data not normalized !",
+                 invalid_argument);
   }
 };
 

diff --git a/include/manif/impl/se3/SE3_base.h b/include/manif/impl/se3/SE3_base.h
@@ -470,10 +470,10 @@ struct AssignmentEvaluatorImpl<SE3Base<Derived>>
   {
     using std::abs;
     using Scalar = typename SE3Base<Derived>::Scalar;
-    MANIF_CHECK(abs(data.template tail<4>().norm()-Scalar(1)) <
-                Constants<Scalar>::eps_s,
-                "SE3 assigned data not normalized !",
-                invalid_argument);
+    MANIF_ASSERT(abs(data.template tail<4>().norm()-Scalar(1)) <
+                 Constants<Scalar>::eps_s,
+                 "SE3 assigned data not normalized !",
+                 manif::invalid_argument);
   }
 };
 

diff --git a/include/manif/impl/se_2_3/SE_2_3_base.h b/include/manif/impl/se_2_3/SE_2_3_base.h
@@ -456,10 +456,10 @@ struct AssignmentEvaluatorImpl<SE_2_3Base<Derived>>
   {
     using std::abs;
     using Scalar = typename SE_2_3Base<Derived>::Scalar;
-    MANIF_CHECK(abs(data.template segment<4>(3).norm()-Scalar(1)) <
-                Constants<Scalar>::eps_s,
-                "SE_2_3 assigned data not normalized !",
-                invalid_argument);
+    MANIF_ASSERT(abs(data.template segment<4>(3).norm()-Scalar(1)) <
+                 Constants<Scalar>::eps_s,
+                 "SE_2_3 assigned data not normalized !",
+                 manif::invalid_argument);
   }
 };
 

diff --git a/include/manif/impl/so2/SO2_base.h b/include/manif/impl/so2/SO2_base.h
@@ -331,9 +331,9 @@ struct AssignmentEvaluatorImpl<SO2Base<Derived>>
   {
     using std::abs;
     using Scalar = typename SO2Base<Derived>::Scalar;
-    MANIF_CHECK(abs(data.norm()-Scalar(1)) < Constants<Scalar>::eps_s,
-                "SO2 assigned data not normalized !",
-                invalid_argument);
+    MANIF_ASSERT(abs(data.norm()-Scalar(1)) < Constants<Scalar>::eps_s,
+                 "SO2 assigned data not normalized !",
+                 invalid_argument);
   }
 };
 

diff --git a/include/manif/impl/so3/SO3_base.h b/include/manif/impl/so3/SO3_base.h
@@ -400,9 +400,9 @@ struct AssignmentEvaluatorImpl<SO3Base<Derived>>
   {
     using std::abs;
     using Scalar = typename SO3Base<Derived>::Scalar;
-    MANIF_CHECK(abs(data.norm()-Scalar(1)) < Constants<Scalar>::eps_s,
-                "SO3 assigned data not normalized !",
-                invalid_argument);
+    MANIF_ASSERT(abs(data.norm()-Scalar(1)) < Constants<Scalar>::eps_s,
+                 "SO3 assigned data not normalized !",
+                 manif::invalid_argument);
   }
 };