Commit 6a9490b5 authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
Browse files

Merge pull request #372 from jmirabel/devel

Minor changes
parents 1d572294 2abbac65
......@@ -97,7 +97,7 @@ namespace se3
#ifndef NDEBUG
const Scalar M = 3 * std::pow((Scalar)1.-epsilon, ((Scalar)-5)/2) / 4;
assert(std::fabs(q.norm() - 1) <=
std::max(M * sqrt(N2) * (N2 - 1)*(N2 - 1) / 2, Eigen::NumTraits<Scalar>::epsilon()));
std::max(M * sqrt(N2) * (N2 - 1)*(N2 - 1) / 2, Eigen::NumTraits<Scalar>::dummy_precision()));
#endif
}
......
......@@ -67,6 +67,11 @@ namespace se3
std::string collisionFilename = collisionGeometry->filename;
meshPath = retrieveResourcePath(collisionFilename, package_dirs);
if (meshPath == "") {
std::stringstream ss;
ss << "Mesh " << collisionFilename << " could not be found.";
throw std::invalid_argument (ss.str());
}
fcl::Vec3f scale = fcl::Vec3f(collisionGeometry->scale.x,
collisionGeometry->scale.y,
......
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