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Use OPENSIM_ASSERT in ConstantCurvatureJoint::ConstantCurvatureJointImpl #3614

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merged 1 commit into from
Nov 17, 2023
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Use OPENSIM_ASSERT in ConstantCurvatureJoint::ConstantCurvatureJointImpl #3614

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56 changes: 28 additions & 28 deletions OpenSim/Simulation/SimbodyEngine/ConstantCurvatureJoint.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ Vec3 OpenSim::ConstantCurvatureJoint::clamp(const SimTK::Vec3& q) {
"to unphysical behavior. Please adjust your model "
"or simulation to avoid this state.",
pos(0), bound));
OPENSIM_ASSERT_FRMOBJ(false);
OPENSIM_ASSERT(false);
pos(0) = bound;
}
if (pos(0) < -bound) {
Expand All @@ -67,7 +67,7 @@ Vec3 OpenSim::ConstantCurvatureJoint::clamp(const SimTK::Vec3& q) {
"to unphysical behavior. Please adjust your model "
"or simulation to avoid this state.",
pos(0), -bound));
OPENSIM_ASSERT_FRMOBJ(false);
OPENSIM_ASSERT(false);
pos(0) = -bound;
}
if (pos(1) > bound) {
Expand All @@ -78,7 +78,7 @@ Vec3 OpenSim::ConstantCurvatureJoint::clamp(const SimTK::Vec3& q) {
"to unphysical behavior. Please adjust your model "
"or simulation to avoid this state.",
pos(1), bound));
OPENSIM_ASSERT_FRMOBJ(false);
OPENSIM_ASSERT(false);
pos(1) = bound;
}
if (pos(1) < -bound) {
Expand All @@ -89,7 +89,7 @@ Vec3 OpenSim::ConstantCurvatureJoint::clamp(const SimTK::Vec3& q) {
"to unphysical behavior. Please adjust your model "
"or simulation to avoid this state.",
pos(1), -bound));
OPENSIM_ASSERT_FRMOBJ(false);
OPENSIM_ASSERT(false);
pos(1) = -bound;
}
if (pos(2) > bound) {
Expand All @@ -100,7 +100,7 @@ Vec3 OpenSim::ConstantCurvatureJoint::clamp(const SimTK::Vec3& q) {
"to unphysical behavior. Please adjust your model "
"or simulation to avoid this state.",
pos(2), bound));
OPENSIM_ASSERT_FRMOBJ(false);
OPENSIM_ASSERT(false);
pos(2) = bound;
}
if (pos(2) < -bound) {
Expand All @@ -111,7 +111,7 @@ Vec3 OpenSim::ConstantCurvatureJoint::clamp(const SimTK::Vec3& q) {
"to unphysical behavior. Please adjust your model "
"or simulation to avoid this state.",
pos(2), -bound));
OPENSIM_ASSERT_FRMOBJ(false);
OPENSIM_ASSERT(false);
pos(2) = -bound;
}
return pos;
Expand Down Expand Up @@ -205,7 +205,7 @@ Mat33 OpenSim::ConstantCurvatureJoint::eulerXZYToMatrixGrad(
ret(1, 2) = -(-sy) * sx + cx * (cy)*sz;
ret(2, 2) = cx * (-sy) + sx * (cy)*sz;
} else {
OPENSIM_ASSERT_FRMOBJ(false);
OPENSIM_ASSERT(false);
}

return ret;
Expand Down Expand Up @@ -247,7 +247,7 @@ Mat63 OpenSim::ConstantCurvatureJoint::getEulerJacobian(const Vec3& q) {

Mat63 OpenSim::ConstantCurvatureJoint::getEulerJacobianDerivWrtPos(
const Vec3& q, int index) {
OPENSIM_ASSERT_FRMOBJ(index < 3);
OPENSIM_ASSERT(index < 3);

Mat63 DJ_Dq;
DJ_Dq.setToZero();
Expand Down Expand Up @@ -678,10 +678,10 @@ class ConstantCurvatureJointImpl
OpenSim::ConstantCurvatureJoint::clamp(q + neutralPos), length);
Vec6 result = J * Vec3(u[0], u[1], u[2]);

OPENSIM_ASSERT_FRMOBJ(!q.isNaN());
OPENSIM_ASSERT_FRMOBJ(!J.isNaN());
OPENSIM_ASSERT_FRMOBJ(!J.isInf());
OPENSIM_ASSERT_FRMOBJ(!result.isNaN());
OPENSIM_ASSERT(!q.isNaN());
OPENSIM_ASSERT(!J.isNaN());
OPENSIM_ASSERT(!J.isInf());
OPENSIM_ASSERT(!result.isNaN());

return SpatialVec(result.getSubVec<3>(0), result.getSubVec<3>(3));
}
Expand All @@ -699,10 +699,10 @@ class ConstantCurvatureJointImpl

Vec3 result = J.transpose() * rawSpatial;

OPENSIM_ASSERT_FRMOBJ(!q.isNaN());
OPENSIM_ASSERT_FRMOBJ(!J.isNaN());
OPENSIM_ASSERT_FRMOBJ(!J.isInf());
OPENSIM_ASSERT_FRMOBJ(!result.isNaN());
OPENSIM_ASSERT(!q.isNaN());
OPENSIM_ASSERT(!J.isNaN());
OPENSIM_ASSERT(!J.isInf());
OPENSIM_ASSERT(!result.isNaN());

Vec3::updAs(f) = result;
}
Expand All @@ -722,11 +722,11 @@ class ConstantCurvatureJointImpl
dq, length);
Vec6 result = dJ * Vec3(u[0], u[1], u[2]);

OPENSIM_ASSERT_FRMOBJ(!q.isNaN());
OPENSIM_ASSERT_FRMOBJ(!dq.isNaN());
OPENSIM_ASSERT_FRMOBJ(!dJ.isNaN());
OPENSIM_ASSERT_FRMOBJ(!dJ.isInf());
OPENSIM_ASSERT_FRMOBJ(!result.isNaN());
OPENSIM_ASSERT(!q.isNaN());
OPENSIM_ASSERT(!dq.isNaN());
OPENSIM_ASSERT(!dJ.isNaN());
OPENSIM_ASSERT(!dJ.isInf());
OPENSIM_ASSERT(!result.isNaN());

return SpatialVec(result.getSubVec<3>(0), result.getSubVec<3>(3));
}
Expand All @@ -748,24 +748,24 @@ class ConstantCurvatureJointImpl

Vec3 result = dJ.transpose() * rawSpatial;

OPENSIM_ASSERT_FRMOBJ(!q.isNaN());
OPENSIM_ASSERT_FRMOBJ(!dq.isNaN());
OPENSIM_ASSERT_FRMOBJ(!dJ.isNaN());
OPENSIM_ASSERT_FRMOBJ(!dJ.isInf());
OPENSIM_ASSERT_FRMOBJ(!result.isNaN());
OPENSIM_ASSERT(!q.isNaN());
OPENSIM_ASSERT(!dq.isNaN());
OPENSIM_ASSERT(!dJ.isNaN());
OPENSIM_ASSERT(!dJ.isInf());
OPENSIM_ASSERT(!result.isNaN());

Vec3::updAs(f) = result;
}

void setQToFitTransform(
const State&, const Transform& X_FM, int nq, Real* q) const {
OPENSIM_ASSERT_FRMOBJ(false);
OPENSIM_ASSERT(false);
Vec3::updAs(q) = X_FM.p();
}

void setUToFitVelocity(
const State&, const SpatialVec& V_FM, int nu, Real* u) const {
OPENSIM_ASSERT_FRMOBJ(false);
OPENSIM_ASSERT(false);
Vec3::updAs(u) = V_FM[1];
}

Expand Down