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Adds a DRAKE_THROW_IF macro #23158

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Adds a DRAKE_THROW_IF macro #23158

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cae6e65
Adds a DRAKE_THROW_IF macro
AlexandreAmice Jul 2, 2025
fc70c7d
find some instances where THROW_IF is more natural
AlexandreAmice Jul 2, 2025
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4 changes: 4 additions & 0 deletions common/drake_throw.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,3 +45,7 @@ namespace internal {
::drake::internal::Throw(#condition, __func__, __FILE__, __LINE__); \
} \
} while (0)

/// Provides the same behavior as DRAKE_THROW_UNLESS, except that it throws an
/// exception iff the value is true.
#define DRAKE_THROW_IF(condition) DRAKE_THROW_UNLESS(!(condition))
7 changes: 6 additions & 1 deletion common/test/drake_throw_test.cc
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Expand Up @@ -8,9 +8,14 @@

namespace {

GTEST_TEST(DrakeThrowTest, BasicTest) {
GTEST_TEST(DrakeThrowTest, UnlessTest) {
DRAKE_EXPECT_NO_THROW(DRAKE_THROW_UNLESS(true));
EXPECT_THROW(DRAKE_THROW_UNLESS(false), std::runtime_error);
}

GTEST_TEST(DrakeThrowTest, IfTest) {
DRAKE_EXPECT_NO_THROW(DRAKE_THROW_IF(false));
EXPECT_THROW(DRAKE_THROW_IF(true), std::runtime_error);
}

} // namespace
4 changes: 2 additions & 2 deletions geometry/meshcat.cc
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Expand Up @@ -769,8 +769,8 @@ class Meshcat::Impl {
main_thread_id_(std::this_thread::get_id()),
params_(params),
rate_calculator_(params_.realtime_rate_period) {
DRAKE_THROW_UNLESS(!params.port.has_value() || *params.port == 0 ||
*params.port >= 1024);
DRAKE_THROW_IF(params.port.has_value() && *params.port == 0 &&
*params.port >= 1024);
if (!drake::internal::IsNetworkingAllowed("meshcat")) {
throw std::runtime_error(
"Meshcat has been disabled via the DRAKE_ALLOW_NETWORK environment "
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2 changes: 1 addition & 1 deletion geometry/optimization/hpolyhedron.cc
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Expand Up @@ -919,7 +919,7 @@ HPolyhedron HPolyhedron::SimplifyByIncrementalFaceTranslation(
const HPolyhedron circumbody = this->ReduceInequalities(0);
MatrixXd circumbody_A = circumbody.A();
VectorXd circumbody_b = circumbody.b();
DRAKE_THROW_UNLESS(!circumbody.IsEmpty());
DRAKE_THROW_IF(circumbody.IsEmpty());
DRAKE_THROW_UNLESS(circumbody.IsBounded());

for (int i = 0; i < points_to_contain.cols(); ++i) {
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2 changes: 1 addition & 1 deletion geometry/proximity/volume_mesh_refiner.cc
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Expand Up @@ -181,7 +181,7 @@ void VolumeMeshRefiner::CutTetrahedron(const int tetrahedron,

std::vector<int> VolumeMeshRefiner::GetTetrahedraOnTriangle(int v0, int v1,
int v2) const {
DRAKE_THROW_UNLESS(v0 != v1 && v1 != v2 && v2 != v0);
DRAKE_THROW_IF(v0 == v1 || v1 == v2 || v2 == v0);
std::vector<int> incident_tetrahedra;
const std::vector<int>& tetrahedra0 = vertex_to_tetrahedra_[v0];
const std::vector<int>& tetrahedra1 = vertex_to_tetrahedra_[v1];
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2 changes: 1 addition & 1 deletion multibody/plant/multibody_plant.cc
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Expand Up @@ -779,7 +779,7 @@ MultibodyConstraintId MultibodyPlant<T>::AddTendonConstraint(
upper_limit = kInf;
}

DRAKE_THROW_UNLESS(*lower_limit != -kInf || *upper_limit != kInf);
DRAKE_THROW_IF(*lower_limit == -kInf && *upper_limit == kInf);
DRAKE_THROW_UNLESS(*lower_limit <= *upper_limit);

if (stiffness.has_value()) {
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2 changes: 1 addition & 1 deletion multibody/tree/multibody_tree_topology.cc
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Expand Up @@ -225,7 +225,7 @@ JointActuatorIndex MultibodyTreeTopology::add_joint_actuator(int num_dofs) {
void MultibodyTreeTopology::RemoveJointActuator(
JointActuatorIndex actuator_index) {
DRAKE_DEMAND(actuator_index < ssize(joint_actuators_));
DRAKE_THROW_UNLESS(!is_valid());
DRAKE_THROW_IF(is_valid());
DRAKE_THROW_UNLESS(joint_actuators_[actuator_index].has_value());

// Reduce the total number of actuated dofs.
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