From 877af687d99b52b8d521f99520db33b102b59c17 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Wed, 28 Jul 2021 21:51:39 +0200
Subject: [PATCH] Move obstacle assert to ext2

---
 src/rrtext2.cc | 4 +---
 src/rrts.cc    | 1 -
 2 files changed, 1 insertion(+), 4 deletions(-)

diff --git a/src/rrtext2.cc b/src/rrtext2.cc
index d98d7cb..06caf9f 100644
--- 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 68b4f6e..15f2436 100644
--- 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());
-- 
2.39.2