Remove cmake options MRPT_ALWAYS_CHECKS_DEBUG

Author: jlblancoc

CMakeLists.txt

@@ -238,11 +238,6 @@ include(${MRPT_SOURCE_DIR}/cmakemodules/process_emscripten_embedded_files.cmake
 #			OPTIONS
 #The options for the user when using "cmakesetup" or "ccmake":
 # ---------------------------------------------------------------------------
-option(MRPT_ALWAYS_CHECKS_DEBUG "Additional checks even in Release" "OFF")
-mark_as_advanced(FORCE MRPT_ALWAYS_CHECKS_DEBUG)
-option(MRPT_ALWAYS_CHECKS_DEBUG_MATRICES "Additional checks even in Release (Only in matrix classes)" "OFF")
-mark_as_advanced(FORCE MRPT_ALWAYS_CHECKS_DEBUG_MATRICES)
-
 # Include Asian fonts in CMRPTCanvas ?
 set( MRPT_HAS_ASIAN_FONTS ON CACHE BOOL "Enable Asian fonts in CMRPTCanvas (increases library size).")
 

cmakemodules/script_declare_defines.cmake

@@ -9,8 +9,6 @@ macro(CREATE_CMAKE_MRPT_DEFINE defName)
 	endif()
 endmacro()
 
-CREATE_CMAKE_MRPT_DEFINE(MRPT_ALWAYS_CHECKS_DEBUG)
-CREATE_CMAKE_MRPT_DEFINE(MRPT_ALWAYS_CHECKS_DEBUG_MATRICES)
 CREATE_CMAKE_MRPT_DEFINE(MRPT_HAS_BUMBLEBEE)
 CREATE_CMAKE_MRPT_DEFINE(MRPT_HAS_SVS)
 CREATE_CMAKE_MRPT_DEFINE(MRPT_HAS_ASIAN_FONTS)

doc/source/compiling.rst

@@ -199,8 +199,6 @@ For all platforms/compilers:
 - ``MRPT_WITH_KINECT``: By default ON. Uncheck if you don’t have the required dependencies (read above for your OS).
 - ``BUILD_SHARED_LIBS``: Build static libraries if set to OFF, or dynamic libraries (.so/.dll) otherwise. Default is ON, and it’s strongly recommended to always use shared libs unless you have special need for static ones.
 - ``MRPT_EIGEN_USE_EMBEDDED_VERSION``: By default O, instructs MRPT to use the Eigen headers in MRPT/otherlibs/eigen3/. Uncheck if you have Eigen installed in the system and it’s visible through pkg-config. It’s recommended to uncheck this option if you have eigen3 installed in your system (today, eigen3 it’s not yet in any distro repository, that’s why it’s ON by default).
-- ``MRPT_ALWAYS_CHECKS_DEBUG``: If set to ON, additional security checks will be performed at run-time in many classes. Default is OFF.
-- ``MRPT_ALWAYS_CHECKS_DEBUG_MATRICES``: If set to ON, additional security checks will be performed at run-time in several Matrix operations. Default is ON.
 - ``MRPT_ENABLE_EMBEDDED_ENABLED_PROFILER``: If enabled, all code blocks within macros "MRPT_BEGIN/MRPT_END" will be profiled and the statistics dumped to the console at the end of execution of any program. Default is OFF.
 - ``MRPT_HAS_ASIAN_FONTS``: Enables Asian fonts in mrpt::img::CCanvas (see this page), but increases library size by 1.5Mb. Default is ON.
 - ``MRPT_HAS_SVS``: To enable integration of the Videre SVS libraries to interface their stereo cameras. You’ll need the vendor libraries installed in the system before to enable this option. After setting this option to “ON”, the new configuration fields “SVS_ROOT_DIR” will appear and will be tried to be set pointing to the directory where the library is (As of Aug/2010, this option only works in GNU/Linux).

libs/bayes/include/mrpt/bayes/CKalmanFilterCapable_impl.h

@@ -781,15 +781,6 @@ void CKalmanFilterCapable<VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE>::runO
                     // It is symmetric
                     m_pkk(q, k) = m_pkk(k, q);
                   }
-
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
-                  if (m_pkk(k, k) < 0)
-                  {
-                    m_pkk.saveToTextFile("Pkk_err.txt");
-                    mrpt::io::vectorToTextFile(Kij, "Kij.txt");
-                    ASSERT_(m_pkk(k, k) > 0);
-                  }
-#endif
                 }
               }
 

libs/img/src/CImage.cpp

@@ -444,7 +444,7 @@ unsigned char* CImage::operator()(unsigned int ucol, unsigned int urow, unsigned
 {
 #if MRPT_HAS_OPENCV
 
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
   MRPT_START
 #endif
 
@@ -453,7 +453,7 @@ unsigned char* CImage::operator()(unsigned int ucol, unsigned int urow, unsigned
   const auto row = static_cast<int>(urow);
   const auto channel = static_cast<int>(uchannel);
 
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
   ASSERT_(m_impl && !m_impl->img.empty());
   if (row >= m_impl->img.rows || col >= m_impl->img.cols || channel >= m_impl->img.channels())
   {
@@ -465,7 +465,7 @@ unsigned char* CImage::operator()(unsigned int ucol, unsigned int urow, unsigned
 #endif
   auto p = (&m_impl->img.at<uint8_t>(row, m_impl->img.channels() * col)) + channel;
   return const_cast<unsigned char*>(p);
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
   MRPT_END
 #endif
 
@@ -1091,7 +1091,7 @@ void CImage::setPixel(int x, int y, size_t color)
 {
 #if MRPT_HAS_OPENCV
 
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
   MRPT_START
 #endif
 
@@ -1109,7 +1109,7 @@ void CImage::setPixel(int x, int y, size_t color)
     }
     else
     {
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
       ASSERT_(img.channels() == 3);
 #endif
       auto* dest = &img.ptr<uint8_t>(y)[3 * x];
@@ -1121,7 +1121,7 @@ void CImage::setPixel(int x, int y, size_t color)
     }
   }
 
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
   MRPT_END
 #endif
 

libs/maps/src/maps/COccupancyGridMap2D_common.cpp

@@ -280,7 +280,7 @@ void COccupancyGridMap2D::resizeGrid(
 
     for (size_t y = 0; y < m_size_y; y++)
     {
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
       assert(dest_ptr + row_size - 1 <= &new_map[new_map.size() - 1]);
       assert(src_ptr + row_size - 1 <= &m_map[m_map.size() - 1]);
 #endif

libs/maps/src/maps/COccupancyGridMap2D_insert.cpp

@@ -131,7 +131,7 @@ bool COccupancyGridMap2D::internal_insertObservation(
       const float px = d2f(laserPose.x());
       const float py = d2f(laserPose.y());
 
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
       MRPT_CHECK_NORMAL_NUMBER(px);
       MRPT_CHECK_NORMAL_NUMBER(py);
 #endif
@@ -467,7 +467,7 @@ bool COccupancyGridMap2D::internal_insertObservation(
           P2.cx = x2idx(P2.x);
           P2.cy = y2idx(P2.y);
 
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
           // The x> comparison implicitly holds if x<0
           ASSERT_(
               static_cast<unsigned int>(P0.cx) < m_size_x &&
@@ -692,7 +692,7 @@ bool COccupancyGridMap2D::internal_insertObservation(
             P2.cx = x2idx(P2.x);
             P2.cy = y2idx(P2.y);
 
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
             // The x> comparison implicitly holds if x<0
             ASSERT_(
                 static_cast<unsigned int>(P1.cx) < m_size_x &&
@@ -801,7 +801,7 @@ bool COccupancyGridMap2D::internal_insertObservation(
       px = d2f(laserPose.x());
       py = d2f(laserPose.y());
 
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
       MRPT_CHECK_NORMAL_NUMBER(px);
       MRPT_CHECK_NORMAL_NUMBER(py);
 #endif
@@ -951,7 +951,7 @@ bool COccupancyGridMap2D::internal_insertObservation(
         P2.cx = x2idx(P2.x);
         P2.cy = y2idx(P2.y);
 
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
         // The x> comparison implicitly holds if x<0
         ASSERT_(
             static_cast<unsigned int>(P0.cx) < m_size_x &&
@@ -1173,7 +1173,7 @@ bool COccupancyGridMap2D::internal_insertObservation(
           P2.cx = x2idx(P2.x);
           P2.cy = y2idx(P2.y);
 
-#if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
+#if defined(_DEBUG)
           // The x> comparison implicitly holds if x<0
           ASSERT_(
               static_cast<unsigned int>(P1.cx) < m_size_x &&

parse-files/config.h.in

@@ -12,13 +12,6 @@
 
 // clang-format off
 
-/** If defined, security checks (ASSERT_'s) will be performed in many MRPT
- * classes even
-  *  if "_DEBUG" is not declared, which is then the default behavior.
-  */
-#define MRPT_ALWAYS_CHECKS_DEBUG  ${CMAKE_MRPT_ALWAYS_CHECKS_DEBUG}
-#define MRPT_ALWAYS_CHECKS_DEBUG_MATRICES  ${CMAKE_MRPT_ALWAYS_CHECKS_DEBUG_MATRICES}
-
 /** MRPT_BUILT_AS_DLL is defined only if MRPT has been built
   *   as a shared library (.dll/.so) vs. a static library (.lib/.a).
   *  Additionally, MRPT_EXPORTS will be defined only when compiling