From 857e159f9c5940324b014edc932261fde62bbdc6 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit>
Date: Wed, 15 Feb 2023 20:20:07 +0100
Subject: [PATCH] FR: using CHECK_MESSAGE instead of REQUIRE_MESSAGE
---
GeometricPlanning/ArticulatedObjectDoorHelper.cpp | 11 ++++++-----
1 file changed, 6 insertions(+), 5 deletions(-)
diff --git a/GeometricPlanning/ArticulatedObjectDoorHelper.cpp b/GeometricPlanning/ArticulatedObjectDoorHelper.cpp
index 87fd89839..717af9109 100644
--- a/GeometricPlanning/ArticulatedObjectDoorHelper.cpp
+++ b/GeometricPlanning/ArticulatedObjectDoorHelper.cpp
@@ -14,13 +14,14 @@ namespace simox::geometric_planning
const Params& params) :
object(object), params(params)
{
+ CHECK_MESSAGE(object != nullptr, "Object must not be null");
}
ArticulatedObjectDoorHelper::DoorInteractionContext
ArticulatedObjectDoorHelper::planInteraction(const std::string& nodeSetName) const
{
const auto rns = object->getRobotNodeSet(nodeSetName);
- REQUIRE_MESSAGE(rns != nullptr, "Robot node set `" << nodeSetName << "` does not exist!");
+ CHECK_MESSAGE(rns != nullptr, "Robot node set `" + nodeSetName + "` does not exist!");
const std::string jointNodeName = nodeSetName + constants::JointSuffix;
const std::string handleNodeName = nodeSetName + constants::HandleSuffix;
@@ -28,9 +29,9 @@ namespace simox::geometric_planning
const auto checkNodeExists = [&rns, &nodeSetName]([[maybe_unused]] const std::string& nodeName)
{
- REQUIRE_MESSAGE(rns->hasRobotNode(nodeName),
- "Robot node `" << nodeName + "` does not exist within robot node set `"
- << nodeSetName << "`!");
+ CHECK_MESSAGE(rns->hasRobotNode(nodeName),
+ "Robot node `" + nodeName + "` does not exist within robot node set `"
+ + nodeSetName + "`!");
};
for (const auto& nodeName : {jointNodeName, handleNodeName, surfaceProjectionNodeName})
@@ -38,7 +39,7 @@ namespace simox::geometric_planning
checkNodeExists(nodeName);
}
- REQUIRE_MESSAGE(params.doorContactHandleDistance > 0.,
+ CHECK_MESSAGE(params.doorContactHandleDistance > 0.,
"Grasping from the other side not implemented yet!");
return DoorInteractionContext{
--
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