I checked the usage of asserts in KDL,

we still use it in two ways:

* for index checking
* for size checking in jacobians operations and jntarray operations.

If exceptions are not the way to go then I can only remove the
checks/asserts in release code, and keep them in debug-code ( and keep
the asserts since the are taken out by adding the -DNDEBUG flag)

Ruben
On Mon, Jun 15, 2009 at 3:54 PM, Peter
Soetens<Peter [dot] Soetens [..] ...> wrote:
> On Mon, Jun 15, 2009 at 14:43, S Roderick<kiwi [dot] net [..] ...> wrote:
>> On Jun 15, 2009, at 08:41 , Ruben Smits wrote:
>>
>>> https://www.fmtc.be/bugzilla/orocos/show_bug.cgi?id=672
>>>
>>>           Summary: Inappropriate usage of assert in KDL
>>>           Product: KDL
>>>           Version: unspecified
>>>          Platform: All
>>>        OS/Version: All
>>>            Status: NEW
>>>          Severity: normal
>>>          Priority: P3
>>>         Component: Primitives
>>>        AssignedTo: orocos-dev [..] ...
>>>        ReportedBy: ruben [dot] smits [..] ...
>>>                CC: orocos-dev [..] ...
>>>   Estimated Hours: 0.0
>>>
>>>
>>> In various places in the KDL code, asserts are used to check user
>>> input. This
>>> is not the good way to test this.
>>>
>>> We should replace it with exceptions or fault-returns.
>>
>> We would strongly prefer to not be be forced to use exceptions.
>> Compile-time configurable as to which is used?
>
> Are you hinting towards being compilable with -fno-exceptions or towards
> *as a user* not wanting to write try/catch blocks ?
>
> For constructors, not being able to throw leads to an invalid object,
> an assert is then the only way out.
>
>

> #ifndef NO_EXCEPTIONS
> #define THROW(a) throw a
> #else
> #define THROW(a) assert( false && BOOST_PP_STRINGIZE(a) )
> #endif
> 

https://www.fmtc.be/bugzilla/orocos/show_bug.cgi?id=672

Ruben Smits <ruben [dot] smits [..] ...> changed:

What |Removed |Added
----------------------------------------------------------------------------
Resolution| |FIXED
Status|NEW |RESOLVED

--- Comment #1 from Ruben Smits <ruben [dot] smits [..] ...> 2009-06-26 14:13:10 ---
In r30215, all asserts in the solvers are gone. I still use asserts for size
and index checking in the geometric primitives. But i have no plans on removing
these since using asserts for this purpose is quite common in c++ vector/matrix
libraries.