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Remove invalid assert from FCL collision and distance callback functions #895

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May 30, 2023
Merged

Remove invalid assert from FCL collision and distance callback functions #895

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2 changes: 0 additions & 2 deletions tesseract_collision/fcl/src/fcl_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -208,7 +208,6 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi

const auto* cd1 = static_cast<const CollisionObjectWrapper*>(o1->getUserData());
const auto* cd2 = static_cast<const CollisionObjectWrapper*>(o2->getUserData());
assert(cd1->getName() != cd2->getName());

bool needs_collision = cd1->m_enabled && cd2->m_enabled &&
(cd1->m_collisionFilterGroup & cd2->m_collisionFilterMask) && // NOLINT
Expand Down Expand Up @@ -277,7 +276,6 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void

const auto* cd1 = static_cast<const CollisionObjectWrapper*>(o1->getUserData());
const auto* cd2 = static_cast<const CollisionObjectWrapper*>(o2->getUserData());
assert(cd1->getName() != cd2->getName());

bool needs_collision = cd1->m_enabled && cd2->m_enabled &&
(cd1->m_collisionFilterGroup & cd2->m_collisionFilterMask) && // NOLINT
Expand Down