UB fix attempt #2

farm-ng · Dec 18, 2024 · 2b76bc8 · 2b76bc8
1 parent 7ab594f
commit 2b76bc8
Showing 1 changed file with 1 addition and 4 deletions.
diff --git a/cpp/sophus/lie/pose3.h b/cpp/sophus/lie/pose3.h
@@ -104,10 +104,7 @@ class Pose3 {
 
   static Expected<Tangent> error(
       Pose3 const& lhs_a_from_b, Pose3 const& rhs_a_from_b) {
-    Expected<Pose3> product = lhs_a_from_b.inverse() * rhs_a_from_b;
-    if (!product) {
-      return product.error();
-    }
+    FARM_TRY(Pose3, product, lhs_a_from_b.inverse() * rhs_a_from_b);
     return product->log();
   }