include/core/state_block/has_state_blocks.h

@@ -341,11 +341,7 @@ inline void HasStateBlocks::setState(const StateStructure& _structure, const std
 //// _structure can be either stateblock structure of the node or a subset of this structure
 inline VectorXd HasStateBlocks::getStateVector(const StateStructure& _structure) const
 {
-    StateStructure structure;
-    if (_structure == "")
-        structure = structure_;
-    else
-        structure = _structure;
+    const StateStructure& structure = (_structure == "" ? structure_ : _structure);
 
     VectorXd state(getSize(structure));
 
@@ -353,8 +349,9 @@ inline VectorXd HasStateBlocks::getStateVector(const StateStructure& _structure)
     for (const char key : structure)
     {
         const auto& sb = getStateBlock(key);
-
-        assert(sb != nullptr && "Requested StateBlock key not in the structure");
+        if (sb == nullptr){
+            throw std::runtime_error("Requested StateBlock key not in the structure");
+        }
 
         state.segment(index,sb->getSize()) = sb->getState();
         index += sb->getSize();
@@ -370,11 +367,12 @@ inline VectorComposite HasStateBlocks::getState(const StateStructure& _structure
 
     for (const auto key : structure)
     {
-        auto state_it = state_block_map_.find(key);
-
-        if (state_it != state_block_map_.end())
+        const auto& sb = getStateBlock(key);
+        if (sb == nullptr){
+            throw std::runtime_error("Requested StateBlock key not in the structure");
+        }
 
-            state.emplace(key, state_it->second->getState());
+        state.emplace(key, sb->getState());
     }
 
     return state;

test/gtest_has_state_blocks.cpp

@@ -209,15 +209,6 @@ TEST_F(HasStateBlocksTest, getState_structure)
     ASSERT_TRUE(state0.count('P'));
     ASSERT_FALSE(state0.count('O'));
     ASSERT_TRUE(state0.count('V'));
-
-    state0 = F0->getState("OW"); // W does not exist
-    WOLF_DEBUG("getState(\"OW\") = ", state0);
-    ASSERT_EQ(state0.size(), 1);
-    ASSERT_FALSE(state0.count('P'));
-    ASSERT_TRUE(state0.count('O'));
-    ASSERT_FALSE(state0.count('V'));
-    ASSERT_FALSE(state0.count('W'));
-
 }