From a8a4ab81da6f08c984aadf014bc56750bd72f083 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Wed, 2 Sep 2020 18:08:29 +0200
Subject: [PATCH] [SE(3)] Avoid code duplication in SE3::quat() method

Co-authored-by: Jeremie Deray <deray.jeremie@gmail.com>
---
 include/manif/impl/se3/SE3_base.h | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/include/manif/impl/se3/SE3_base.h b/include/manif/impl/se3/SE3_base.h
index 4fe3e521..0673e82e 100644
--- 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>