Problem::get* is counter intuitive

Many of the Problem get functions take a vector reference to fill it up with whatever one is trying to get.
E.g.

void Problem::getCurrentState(Eigen::VectorXs& state)
...

However the first line of many of these get function is an assert on the input vector size, e.g.

void Problem::getCurrentState(Eigen::VectorXs& state)
{
  assert(state.size() == getFrameStructureSize() && "Problem::getCurrentState: bad state size");

I think this is counter intuitive as it forces one to call it as :

// I Have to know the size beforehand !
Eigen::VectorXs current_state = Eigen::VectorXs(3,1,0); 

// Or call some weird initialization...
current_state = problem.zeroState();                    

// Or error-prone...
current_state = Eigen::VectorXs(problem.getFrameStructureSize()); 

problem.getCurrentState(current_state);

while one could expect the following to work :

Eigen::VectorXs current_state;

problem.getCurrentState(current_state); // <-- assert crashes :'(

I do not know how important are all those asserts at that time, but as the functions state get it should be safe to remove them.

@jsola Do you think these asserts can be removed safely ??

I suppose they can. In any case Eigen will also assert on vector sizes sooner or later in the compilation/execution of code

added To Do (release) label

assigned to @joanvallve

mentioned in commit 178067c7

added ~209 label and removed To Do (release) label

mentioned in merge request !262 (merged)

closed