core: Continue to fix the debug build

Author: jorisv

include/pinocchio/algorithm/constraints/coulomb-friction-cone.hpp

@@ -69,7 +69,7 @@ namespace pinocchio
     explicit CoulombFrictionConeTpl(const Scalar mu)
     : mu(mu)
     {
-      assert(mu >= 0 && "mu must be positive");
+      assert(check_expression_if_real<Scalar>(mu >= 0) && "mu must be positive");
     }
 
     /// \brief Copy constructor.
@@ -124,7 +124,7 @@ namespace pinocchio
       const Eigen::MatrixBase<Vector3LikeIn> & x,
       const Eigen::MatrixBase<Vector3LikeOut> & res_) const
     {
-      assert(mu >= 0 && "mu must be positive");
+      assert(check_expression_if_real<Scalar>(mu >= 0) && "mu must be positive");
       //      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like, 3);
       assert(x.size() == 3 && "The input vector is of wrong size.");
       typedef Eigen::Matrix<Scalar, 2, 1> Vector2Plain;
@@ -168,11 +168,11 @@ namespace pinocchio
     typename PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like1) weightedProject(
       const Eigen::MatrixBase<Vector3Like1> & x, const Eigen::MatrixBase<Vector3Like2> & R) const
     {
-      assert(mu >= 0 && "mu must be positive");
+      assert(check_expression_if_real<Scalar>(mu >= 0) && "mu must be positive");
       //      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like, 3);
       assert(x.size() == 3 && "The input vector is of wrong size.");
-      assert(R(2) > 0 && "R(2) must be strictly positive");
-      assert(R(0) == R(1) && "R(0) must be equal to R(1)");
+      assert(check_expression_if_real<Scalar>(R(2) > 0) && "R(2) must be strictly positive");
+      assert(check_expression_if_real<Scalar>(R(0) == R(1)) && "R(0) must be equal to R(1)");
 
       typedef typename PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like1) Vector3Plain;
 
@@ -302,7 +302,7 @@ namespace pinocchio
     explicit DualCoulombFrictionConeTpl(const Scalar mu)
     : mu(mu)
     {
-      assert(mu >= 0 && "mu must be positive");
+      assert(check_expression_if_real<Scalar>(mu >= 0) && "mu must be positive");
     }
 
     /// \brief Copy constructor.
@@ -344,7 +344,7 @@ namespace pinocchio
       const Eigen::MatrixBase<Vector3LikeIn> & x,
       const Eigen::MatrixBase<Vector3LikeOut> & res_) const
     {
-      assert(mu >= 0 && "mu must be positive");
+      assert(check_expression_if_real<Scalar>(mu >= 0) && "mu must be positive");
       //      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Vector3Like, 3);
       assert(x.size() == 3 && "The input vector is of wrong size.");
       const Scalar & z = x[2];

include/pinocchio/algorithm/constraints/joint-limit-constraint.hxx

@@ -163,7 +163,7 @@ namespace pinocchio
     {
       const auto activable_idx_q = activable_idx_qs[i];
       bound_position_limit[bound_row_id] = lb[activable_idx_q];
-      assert(marg[activable_idx_q] >= 0);
+      assert(check_expression_if_real<Scalar>(marg[activable_idx_q] >= 0));
       bound_position_margin[bound_row_id] = marg[activable_idx_q];
       bound_row_id++;
     }
@@ -172,7 +172,7 @@ namespace pinocchio
     {
       const auto activable_idx_q = activable_idx_qs[i];
       bound_position_limit[bound_row_id] = ub[activable_idx_q];
-      assert(marg[activable_idx_q] >= 0);
+      assert(check_expression_if_real<Scalar>(marg[activable_idx_q] >= 0));
       bound_position_margin[bound_row_id] = marg[activable_idx_q];
       bound_row_id++;
     }

include/pinocchio/math/eigenvalues-tridiagonal-matrix.hpp

@@ -53,7 +53,7 @@ namespace pinocchio
     const Eigen::DenseIndex dm = m2 - m1 + 1;
     const Scalar relfeh = 2 * Eigen::NumTraits<Scalar>::epsilon();
 
-    assert((Scalar(1) + relfeh) > Scalar(1));
+    assert(check_expression_if_real<Scalar>((Scalar(1) + relfeh) > Scalar(1)));
 
     const auto & alphas = tridiagonal_mat.diagonal();
     const auto & betas_ = tridiagonal_mat.subDiagonal();

include/pinocchio/math/matrix.hpp

@@ -678,7 +678,7 @@ namespace pinocchio
     tmp = 0.5 * (mat + mat.transpose());
     mat = tmp;
 
-    assert(mat == mat.transpose());
+    assert(isSymmetric(mat));
   }
 
   template<typename Matrix>