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Commit 07dbb86c authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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removed assertion that is not be always accomplished due to solver changes

parent 0fbe70c8
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2 merge requests!30Release after RAL,!29After 2nd RAL submission
...@@ -25,9 +25,6 @@ bool LocalParametrizationPolylineExtreme::plus(Eigen::Map<const Eigen::VectorXs> ...@@ -25,9 +25,6 @@ bool LocalParametrizationPolylineExtreme::plus(Eigen::Map<const Eigen::VectorXs>
_point_plus_delta_theta = reference_point_->getState().head(2) + Eigen::Rotation2Ds(_delta_theta(0)) * (_point - reference_point_->getState().head(2)); _point_plus_delta_theta = reference_point_->getState().head(2) + Eigen::Rotation2Ds(_delta_theta(0)) * (_point - reference_point_->getState().head(2));
assert(std::fabs( (_point_plus_delta_theta - reference_point_->getState().head(2)).squaredNorm()
-(_point - reference_point_->getState().head(2)).squaredNorm() ) < Constants::EPS);
return true; return true;
} }
......
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