Move obstacle assert to ext2

diff --git a/src/rrtext2.cc b/src/rrtext2.cc
index d98d7cb0c817a0b545418d5a01dbeda889aa8471..06caf9fe2f028e6d4b43c0725696633bed5a8be4 100644 (file)
--- a/src/rrtext2.cc
+++ b/src/rrtext2.cc
@@ -63,9 +63,7 @@ void
 RRTExt2::json(Json::Value jvi)
 {
        RRTS::json(jvi);
-       if (jvi["obst"] == Json::nullValue) {
-               return;
-       }
+       assert(jvi["obst"] != Json::nullValue);
        for (auto& o: jvi["obst"]) {
                assert(o.size() < C2_MAX_POLYGON_VERTS);
                c2Poly c2tmp;

diff --git a/src/rrts.cc b/src/rrts.cc
index 68b4f6e32171f554e026f3bb171a820f970ff07f..15f2436e8d3142bb2f61b876428e124bac0b799e 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -299,7 +299,6 @@ RRTS::json(Json::Value jvi)
 {
        assert(jvi["init"] != Json::nullValue);
        assert(jvi["goal"] != Json::nullValue);
-       assert(jvi["obst"] != Json::nullValue);
        this->nodes_.front().x(jvi["init"][0].asDouble());
        this->nodes_.front().y(jvi["init"][1].asDouble());
        this->nodes_.front().h(jvi["init"][2].asDouble());