Merge pull request #372 from jmirabel/devel

Minor changes

src/math/quaternion.hpp

@@ -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
   }
 

src/parsers/urdf/geometry.cpp

@@ -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,