Replace exception with assert (#432)

SleipnirGroup · Mar 8, 2024 · ad72aae · ad72aae
1 parent 0b26b8a
commit ad72aae
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/include/sleipnir/control/OCPSolver.hpp b/include/sleipnir/control/OCPSolver.hpp
@@ -3,7 +3,6 @@
 #pragma once
 
 #include <chrono>
-#include <concepts>
 #include <functional>
 
 #include "sleipnir/autodiff/VariableMatrix.hpp"

diff --git a/src/control/OCPSolver.cpp b/src/control/OCPSolver.cpp
@@ -2,6 +2,8 @@
 
 #include "sleipnir/control/OCPSolver.hpp"
 
+#include "sleipnir/util/Assert.hpp"
+
 namespace sleipnir {
 
 OCPSolver::OCPSolver(int numStates, int numInputs,
@@ -56,9 +58,7 @@ OCPSolver::OCPSolver(int numStates, int numInputs,
 }
 
 void OCPSolver::ConstrainDirectCollocation() {
-  if (m_dynamicsType != DynamicsType::kExplicitODE) {
-    throw std::runtime_error("Direct Collocation requires an explicit ODE");
-  }
+  Assert(m_dynamicsType == DynamicsType::kExplicitODE);
 
   Variable time = 0.0;