w3

dartsim · Apr 5, 2024 · f237b49 · f237b49
1 parent 7b90079
commit f237b49
Show file tree

Hide file tree

Showing 20 changed files with 68 additions and 68 deletions.
diff --git a/dart/dynamics/BodyNode.cpp b/dart/dynamics/BodyNode.cpp
@@ -1383,7 +1383,7 @@ void BodyNode::init(const SkeletonPtr& _skeleton)
     mConstDependentDofs.push_back(_skeleton->getDof(index));
   }
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   // Check whether there is duplicated indices.
   std::size_t nDepGenCoordIndices = mDependentGenCoordIndices.size();
   for (std::size_t i = 0; i < nDepGenCoordIndices; ++i) {

diff --git a/dart/dynamics/EulerJoint.cpp b/dart/dynamics/EulerJoint.cpp
@@ -209,7 +209,7 @@ Eigen::Matrix<double, 6, 3> EulerJoint::getRelativeJacobianStatic(
       J1 << s2, c2, 0.0, 0.0, 0.0, 0.0;
       J2 << 0.0, 0.0, 1.0, 0.0, 0.0, 0.0;
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
       if (std::abs(getPositionsStatic()[1]) == math::constantsd::pi() * 0.5)
         std::cout << "Singular configuration in ZYX-euler joint ["
                   << Joint::mAspectProperties.mName << "]. (" << _positions[0]
@@ -232,7 +232,7 @@ Eigen::Matrix<double, 6, 3> EulerJoint::getRelativeJacobianStatic(
       J1 << 0.0, c2, -s2, 0.0, 0.0, 0.0;
       J2 << 1.0, 0.0, 0.0, 0.0, 0.0, 0.0;
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
       if (std::abs(_positions[1]) == math::constantsd::pi() * 0.5)
         std::cout << "Singular configuration in ZYX-euler joint ["
                   << Joint::mAspectProperties.mName << "]. (" << _positions[0]
@@ -254,7 +254,7 @@ Eigen::Matrix<double, 6, 3> EulerJoint::getRelativeJacobianStatic(
 
   assert(!math::isNan(J));
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   Eigen::MatrixXd JTJ = J.transpose() * J;
   Eigen::FullPivLU<Eigen::MatrixXd> luJTJ(JTJ);
   //    Eigen::FullPivLU<Eigen::MatrixXd> luS(mS);

diff --git a/dart/dynamics/Node.cpp b/dart/dynamics/Node.cpp
@@ -189,7 +189,7 @@ void Node::attach()
 
   // If we are in release mode, and the Node believes it is attached, then we
   // can shortcut this procedure
-#if DART_BUILD_MODE_RELEASE
+#ifdef NDEBUG
   if (mAmAttached)
     return;
 #endif
@@ -241,7 +241,7 @@ void Node::stageForRemoval()
 
   // If we are in release mode, and the Node believes it is detached, then we
   // can shortcut this procedure.
-#if DART_BUILD_MODE_RELEASE
+#ifdef NDEBUG
   if (!mAmAttached)
     return;
 #endif

diff --git a/dart/dynamics/Skeleton.cpp b/dart/dynamics/Skeleton.cpp
@@ -2106,7 +2106,7 @@ void Skeleton::constructNewTree()
 //==============================================================================
 void Skeleton::registerBodyNode(BodyNode* _newBodyNode)
 {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   std::vector<BodyNode*>::iterator repeat = std::find(
       mSkelCache.mBodyNodes.begin(), mSkelCache.mBodyNodes.end(), _newBodyNode);
   if (repeat != mSkelCache.mBodyNodes.end()) {
@@ -2155,7 +2155,7 @@ void Skeleton::registerBodyNode(BodyNode* _newBodyNode)
   updateTotalMass();
   updateCacheDimensions(_newBodyNode->mTreeIndex);
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   for (std::size_t i = 0; i < mSkelCache.mBodyNodes.size(); ++i) {
     if (mSkelCache.mBodyNodes[i]->mIndexInSkeleton != i) {
       dterr << "[Skeleton::registerBodyNode] BodyNode named ["
@@ -3656,7 +3656,7 @@ void Skeleton::updateBiasImpulse(BodyNode* _bodyNode)
   // This skeleton should contain _bodyNode
   assert(_bodyNode->getSkeleton().get() == this);
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   // All the constraint impulse should be zero
   for (std::size_t i = 0; i < mSkelCache.mBodyNodes.size(); ++i)
     assert(
@@ -3687,7 +3687,7 @@ void Skeleton::updateBiasImpulse(
   // This skeleton should contain _bodyNode
   assert(_bodyNode->getSkeleton().get() == this);
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   // All the constraint impulse should be zero
   for (std::size_t i = 0; i < mSkelCache.mBodyNodes.size(); ++i)
     assert(
@@ -3734,7 +3734,7 @@ void Skeleton::updateBiasImpulse(
   assert(_bodyNode1->getSkeleton().get() == this);
   assert(_bodyNode2->getSkeleton().get() == this);
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   // All the constraint impulse should be zero
   for (std::size_t i = 0; i < mSkelCache.mBodyNodes.size(); ++i)
     assert(
@@ -3775,7 +3775,7 @@ void Skeleton::updateBiasImpulse(
       std::find(mSoftBodyNodes.begin(), mSoftBodyNodes.end(), _softBodyNode)
       != mSoftBodyNodes.end());
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   // All the constraint impulse should be zero
   for (std::size_t i = 0; i < mSkelCache.mBodyNodes.size(); ++i)
     assert(

diff --git a/dart/math/Geometry.cpp b/dart/math/Geometry.cpp
@@ -1478,7 +1478,7 @@ bool verifyTransform(const Eigen::Isometry3d& _T)
 
 Eigen::Vector3d fromSkewSymmetric(const Eigen::Matrix3d& _m)
 {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   if (std::abs(_m(0, 0)) > DART_EPSILON || std::abs(_m(1, 1)) > DART_EPSILON
       || std::abs(_m(2, 2)) > DART_EPSILON) {
     dtwarn << "[math::fromSkewSymmetric] Not skew a symmetric matrix:\n"

diff --git a/examples/wam_ikfast/Helpers.cpp b/examples/wam_ikfast/Helpers.cpp
@@ -109,7 +109,7 @@ void setupEndEffectors(const dart::dynamics::SkeletonPtr& wam)
 
   std::stringstream ss;
   ss << DART_SHARED_LIB_PREFIX << "wamIk";
-#if (DART_OS_LINUX || DART_OS_MACOS) && DART_BUILD_MODE_DEBUG
+#if (DART_OS_LINUX || DART_OS_MACOS) && !defined(NDEBUG)
   ss << "d";
 #endif
   ss << "." << DART_SHARED_LIB_EXTENSION;

diff --git a/python/dartpy/eigen_geometry_pybind.cpp b/python/dartpy/eigen_geometry_pybind.cpp
@@ -34,12 +34,12 @@
 
 #include "eigen_geometry_pybind.h"
 
-#include <cassert>
-#include <cmath>
+#include "pybind11/pybind11.h"
 
 #include <dart/common/common.hpp>
 
-#include "pybind11/pybind11.h"
+#include <cassert>
+#include <cmath>
 
 using std::fabs;
 
@@ -60,7 +60,7 @@ namespace {
 
 // N.B. Use a loose tolerance, so that we don't have to be super strict with
 // C++.
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
 const double kCheckTolerance = 1e-5;
 #endif
 

diff --git a/tests/integration/test_Constraint.cpp b/tests/integration/test_Constraint.cpp
@@ -112,7 +112,7 @@ void ConstraintTest::SingleContactTest(const std::string& /*_fileName*/)
   // Settings
   //----------------------------------------------------------------------------
   // Number of random state tests for each skeletons
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   // std::size_t testCount = 1;
 #else
   // std::size_t testCount = 1;
@@ -222,7 +222,7 @@ TEST_F(ConstraintTest, SingleContactTest)
 {
   //  for (int i = 0; i < getList().size(); ++i)
   //  {
-  // #if DART_BUILD_MODE_DEBUG
+  // #ifndef NDEBUG
   //    dtdbg << getList()[i] << std::endl;
   // #endif
   //    SingleContactTest(getList()[i]);

diff --git a/tests/integration/test_Dynamics.cpp b/tests/integration/test_Dynamics.cpp
@@ -862,7 +862,7 @@ void DynamicsTest::testJacobians(const common::Uri& uri)
 
   //----------------------------- Settings -------------------------------------
   const double TOLERANCE = 1.0e-6;
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   int nTestItr = 2;
 #else
   int nTestItr = 5;
@@ -958,7 +958,7 @@ void DynamicsTest::testJacobians(const common::Uri& uri)
 
         compareBodyNodeFkToJacobianRelative(bn, bn, Frame::World(), TOLERANCE);
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
         if (skeleton->getNumBodyNodes() == 0u)
           continue;
 
@@ -1034,7 +1034,7 @@ void DynamicsTest::testFiniteDifferenceGeneralizedCoordinates(
   using namespace utils;
 
   //----------------------------- Settings -------------------------------------
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   int nRandomItr = 2;
 #else
   int nRandomItr = 10;
@@ -1121,7 +1121,7 @@ void DynamicsTest::testFiniteDifferenceBodyNodeVelocity(const common::Uri& uri)
   using namespace utils;
 
   //----------------------------- Settings -------------------------------------
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   int nRandomItr = 2;
   std::size_t numSteps = 1e+1;
 #else
@@ -1211,7 +1211,7 @@ void DynamicsTest::testFiniteDifferenceBodyNodeAcceleration(
 
   //----------------------------- Settings -------------------------------------
   const double TOLERANCE = 1.0e-2;
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   int nRandomItr = 2;
 #else
   int nRandomItr = 10;
@@ -1342,7 +1342,7 @@ void DynamicsTest::testFiniteDifferenceBodyNodeAcceleration(
 //==============================================================================
 void testForwardKinematicsSkeleton(const dynamics::SkeletonPtr& skel)
 {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   std::size_t nRandomItr = 1e+1;
   std::size_t numSteps = 1e+1;
 #else
@@ -1471,7 +1471,7 @@ void DynamicsTest::testInverseDynamics(const common::Uri& uri)
 {
   //---------------------------- Settings --------------------------------------
   // Number of random state tests for each skeleton
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   const std::size_t nRandomItr = 2;
 #else
   const std::size_t nRandomItr = 100;
@@ -1554,7 +1554,7 @@ void DynamicsTest::compareEquationsOfMotion(const common::Uri& uri)
 
   //---------------------------- Settings --------------------------------------
   // Number of random state tests for each skeletons
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   std::size_t nRandomItr = 2;
 #else
   std::size_t nRandomItr = 100;
@@ -1831,7 +1831,7 @@ void DynamicsTest::testCenterOfMass(const common::Uri& uri)
 
   //---------------------------- Settings --------------------------------------
   // Number of random state tests for each skeletons
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   std::size_t nRandomItr = 2;
 #else
   std::size_t nRandomItr = 100;
@@ -1984,7 +1984,7 @@ void DynamicsTest::testCenterOfMassFreeFall(const common::Uri& uri)
 
   //---------------------------- Settings --------------------------------------
   // Number of random state tests for each skeletons
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   std::size_t nRandomItr = 2;
 #else
   std::size_t nRandomItr = 10;
@@ -2021,7 +2021,7 @@ void DynamicsTest::testCenterOfMassFreeFall(const common::Uri& uri)
     auto dof = skel->getNumDofs();
 
     if (nullptr == rootFreeJoint || !skel->isMobile() || 0 == dof) {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
       dtmsg << "Skipping COM free fall test for Skeleton [" << skel->getName()
             << "] since the Skeleton doesn't have FreeJoint at the root body "
             << " or immobile." << endl;
@@ -2090,7 +2090,7 @@ void DynamicsTest::testConstraintImpulse(const common::Uri& uri)
 
   //---------------------------- Settings --------------------------------------
   // Number of random state tests for each skeletons
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   std::size_t nRandomItr = 1;
 #else
   std::size_t nRandomItr = 1;
@@ -2177,7 +2177,7 @@ void DynamicsTest::testImpulseBasedDynamics(const common::Uri& uri)
 
   //---------------------------- Settings --------------------------------------
   // Number of random state tests for each skeletons
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   std::size_t nRandomItr = 1;
 #else
   std::size_t nRandomItr = 100;
@@ -2260,7 +2260,7 @@ void DynamicsTest::testImpulseBasedDynamics(const common::Uri& uri)
 TEST_F(DynamicsTest, testJacobians)
 {
   for (std::size_t i = 0; i < getList().size(); ++i) {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
     testJacobians(getList()[i]);
@@ -2271,7 +2271,7 @@ TEST_F(DynamicsTest, testJacobians)
 TEST_F(DynamicsTest, testFiniteDifference)
 {
   for (std::size_t i = 0; i < getList().size(); ++i) {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
     testFiniteDifferenceGeneralizedCoordinates(getList()[i]);
@@ -2284,7 +2284,7 @@ TEST_F(DynamicsTest, testFiniteDifference)
 TEST_F(DynamicsTest, testForwardKinematics)
 {
   for (std::size_t i = 0; i < getList().size(); ++i) {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
     testForwardKinematics(getList()[i]);
@@ -2295,7 +2295,7 @@ TEST_F(DynamicsTest, testForwardKinematics)
 TEST_F(DynamicsTest, testInverseDynamics)
 {
   for (std::size_t i = 0; i < getList().size(); ++i) {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
     testInverseDynamics(getList()[i]);
@@ -2321,7 +2321,7 @@ TEST_F(DynamicsTest, compareEquationsOfMotion)
     }
     ////////////////////////////////////////////////////////////////////////////
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
     compareEquationsOfMotion(getList()[i]);
@@ -2332,7 +2332,7 @@ TEST_F(DynamicsTest, compareEquationsOfMotion)
 TEST_F(DynamicsTest, testCenterOfMass)
 {
   for (std::size_t i = 0; i < getList().size(); ++i) {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
     testCenterOfMass(getList()[i]);
@@ -2343,7 +2343,7 @@ TEST_F(DynamicsTest, testCenterOfMass)
 TEST_F(DynamicsTest, testCenterOfMassFreeFall)
 {
   for (std::size_t i = 0; i < getList().size(); ++i) {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
     testCenterOfMassFreeFall(getList()[i]);
@@ -2354,7 +2354,7 @@ TEST_F(DynamicsTest, testCenterOfMassFreeFall)
 TEST_F(DynamicsTest, testConstraintImpulse)
 {
   for (std::size_t i = 0; i < getList().size(); ++i) {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
     testConstraintImpulse(getList()[i]);
@@ -2365,7 +2365,7 @@ TEST_F(DynamicsTest, testConstraintImpulse)
 TEST_F(DynamicsTest, testImpulseBasedDynamics)
 {
   for (std::size_t i = 0; i < getList().size(); ++i) {
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
     dtdbg << getList()[i].toString() << std::endl;
 #endif
     testImpulseBasedDynamics(getList()[i]);
@@ -2377,7 +2377,7 @@ TEST_F(DynamicsTest, HybridDynamics)
 {
   const double tol = 1e-8;
   const double timeStep = 1e-3;
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   const std::size_t numFrames = 50; // 0.05 secs
 #else
   const std::size_t numFrames = 5e+3; // 5 secs

diff --git a/tests/integration/test_IkFast.cpp b/tests/integration/test_IkFast.cpp
@@ -134,7 +134,7 @@ TEST(IkFast, LoadWamArmIk)
   ik->setHierarchyLevel(1);
   std::stringstream ss;
   ss << DART_SHARED_LIB_PREFIX << "GeneratedWamIkFast";
-#if (DART_OS_LINUX || DART_OS_MACOS) && DART_BUILD_MODE_DEBUG
+#if (DART_OS_LINUX || DART_OS_MACOS) && !defined(NDEBUG)
   ss << "d";
 #endif
   ss << "." << DART_SHARED_LIB_EXTENSION;