math: revert to classic assert

src/math/quaternion.hpp

@@ -86,13 +86,13 @@ namespace pinocchio
 #ifndef NDEBUG
       const Scalar epsilon = sqrt(sqrt(Eigen::NumTraits<Scalar>::epsilon()));
       typedef apply_op_if<less_than_or_equal_to_op,boost::is_floating_point<Scalar>::value,true> static_leq;
-      PINOCCHIO_ASSERT_THROW_AT_RUNTIME(static_leq::op(math::fabs(N2-1.), epsilon));
+      assert(static_leq::op(math::fabs(N2-1.), epsilon));
 #endif
       const Scalar alpha = ((Scalar)3 - N2) / Scalar(2);
       PINOCCHIO_EIGEN_CONST_CAST(D,q).coeffs() *= alpha;
 #ifndef NDEBUG
       const Scalar M = Scalar(3) * math::pow(Scalar(1)-epsilon, ((Scalar)-Scalar(5))/Scalar(2)) / Scalar(4);
-      PINOCCHIO_ASSERT_THROW_AT_RUNTIME(static_leq::op(math::fabs(q.norm() - Scalar(1)),
+      assert(static_leq::op(math::fabs(q.norm() - Scalar(1)),
                             math::max(M * sqrt(N2) * (N2 - Scalar(1))*(N2 - Scalar(1)) / Scalar(2), Eigen::NumTraits<Scalar>::dummy_precision())));
 #endif
     }

src/math/rotation.hpp

@@ -25,7 +25,7 @@ namespace pinocchio
     EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3,3);
     EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix3,3,3);
     
-    PINOCCHIO_ASSERT_THROW_AT_RUNTIME_WITH_MESSAGE(isUnitary(axis), "The axis is not unitary.");
+    assert(isUnitary(axis) && "The axis is not unitary.");
     
     Matrix3 & res_ = PINOCCHIO_EIGEN_CONST_CAST(Matrix3,res);
     Vector3 sin_axis  = sin_value * axis;