Throw an error instead of partially implementing it.

include/roboptim/core/manifold-map/decorator/dispatcher.hh

@@ -81,9 +81,12 @@ namespace roboptim
 	}
     }
 
-    static void applyDiff(const FunctionOnManifold<U>* instance)
+    static void applyDiff(const FunctionOnManifold<U>*)
     {
-      instance->tangentMappedJacobian = instance->mappedJacobian_;
+      // The throw will need to be replaced by something useful once the Sparse
+      // support is ready in libmanifolds.
+
+      throw std::string("No Sparse support for non RealSpaces manifolds");
     }
   };
 } // end of namespace roboptim

tests/manifold-map.cc

@@ -246,25 +246,25 @@ BOOST_AUTO_TEST_CASE_TEMPLATE (manifold_map_test_0, T, functionTypes_t)
     }
 
   (*output) << instWrap << "\n";
-  std::cout << instWrap << std::endl;
-  std::cout << "input: " << input.transpose() << std::endl;
   instWrap(result, input);
-  std::cout << "result: " << result.transpose() << std::endl << std::endl;
 
   for (int i = 0; i < 10; ++i)
     {
-      std::cout << "i: " << i << std::endl;
       instWrap.gradient(gradient, input, i);
     }
 
   instWrap.jacobian(jacobian, input);
-  std::cout << "jacobian: " << std::endl << jacobian << std::endl;
-  instWrap.manifold_jacobian(refJacobian, input);
-
+  try
+    {
+      instWrap.manifold_jacobian(refJacobian, input);
+    }
+  catch(std::string s)
+    {
+      std::cout << s << std::endl;
+    }
   (*output) << descWrapPtr;
-
+  std::cout << output->str() << std::endl;
   BOOST_CHECK (output->match_pattern());
-
 }
 
 BOOST_AUTO_TEST_CASE_TEMPLATE (manifold_map_test_1, T, functionTypes_t)
@@ -314,7 +314,6 @@ BOOST_AUTO_TEST_CASE_TEMPLATE (manifold_map_test_1, T, functionTypes_t)
       BOOST_CHECK(result(0) == (3 * (3 * i + 1)));
 
       instWrap.jacobian(jacobian, input);
-      std::cout << to_dense(jacobian) << std::endl;
       (*output) << to_dense(jacobian) << std::endl;
     }
 
@@ -323,6 +322,7 @@ BOOST_AUTO_TEST_CASE_TEMPLATE (manifold_map_test_1, T, functionTypes_t)
       delete reals[i];
     }
 
+  std::cout << output->str() << std::endl;
   BOOST_CHECK (output->match_pattern());
 }
 
@@ -432,8 +432,6 @@ BOOST_AUTO_TEST_CASE_TEMPLATE (manifold_map_test_3, T, functionTypes_t)
 
   (*output) << instWrap;
 
-  std::cout << "result: " << result << std::endl;
-
   BOOST_CHECK (result(0) == 15);
   BOOST_CHECK (result(1) == 15);
   BOOST_CHECK (result(2) == 15);
@@ -446,7 +444,6 @@ BOOST_AUTO_TEST_CASE_TEMPLATE (manifold_map_test_3, T, functionTypes_t)
 
   for (int i = 0; i < jac.rows(); ++i)
     {
-      std::cout << jac.row(i) << std::endl;
       (*output) << jac.row(i) << std::endl;
     }