JointSpline - add assert for configuration to be between 0 and 1

Author: MegMll

include/pinocchio/multibody/joint/joint-spline.hpp

@@ -224,8 +224,9 @@ namespace pinocchio
     template<typename ConfigVector>
     void calc(JointDataDerived & data, const Eigen::MatrixBase<ConfigVector> & qs) const
     {
+      assert(
+        qs[0] >= 0.0 && qs[0] <= 1.0 && "Spline joint configuration (q) must be between 0 and 1.");
       data.joint_q = qs.template segment<NQ>(idx_q());
-      // assert(data.joint_q <)
 
       SpanIndexes indexes = FindSpan<Scalar, Options>::run(qs, degree, nbCtrlFrames, knots);
 
@@ -260,6 +261,9 @@ namespace pinocchio
       const Eigen::MatrixBase<ConfigVector> & qs,
       const Eigen::MatrixBase<TangentVector> & vs) const
     {
+      assert(
+        qs[0] >= 0.0 && qs[0] <= 1.0 && "Spline joint configuration (q) must be between 0 and 1.");
+
       data.joint_q = qs.template segment<NQ>(idx_q());
       data.joint_v = vs.template segment<NV>(idx_v());