[SE(3)] Avoid code duplication in SE3::quat() method

Co-authored-by: Jeremie Deray <deray.jeremie@gmail.com>
artivis · Sep 2, 2020 · a8a4ab8 · a8a4ab8
1 parent 9993d5f
commit a8a4ab8
Showing 1 changed file with 1 addition and 7 deletions.
diff --git a/include/manif/impl/se3/SE3_base.h b/include/manif/impl/se3/SE3_base.h
@@ -234,13 +234,7 @@ SE3Base<_Derived>::translation() const
 template <typename _Derived>
 void SE3Base<_Derived>::quat(const QuaternionDataType& quaternion)
 {
- using std::abs;
- MANIF_ASSERT(abs(quaternion.template norm()-Scalar(1)) <
- Constants<Scalar>::eps_s,
- "The quaternion is not normalized !",
- invalid_argument);
-
- asSO3().coeffs() = quaternion.coeffs();
+ quat(quaternion.coeffs());
 }
 
 template <typename _Derived>