With the introduction of stacktraces into the mc_rtc::log::error_and_throw it becomes very expensive to throw and catch exceptions (much more so than regular exceptions). The default ZMP computations throw on errors so this PR introduces variants that do not throw to communicate issues.
With the introduction of stacktraces into the
mc_rtc::log::error_and_throwit becomes very expensive to throw and catch exceptions (much more so than regular exceptions). The default ZMP computations throw on errors so this PR introduces variants that do not throw to communicate issues.This variant is used in the StabilizerTask