Refactor error handling in matrix projection functions to use log_and_throw_error for consistency

Author: zfergus

src/ipc/dynamics/rigid/simulator.cpp

@@ -97,8 +97,7 @@ void Simulator::step()
             grad_norm, hess.norm(), alpha);
     } while (dx > m_time_integrator->dt * 1e-3 && ++iter < 100);
     logger().info(
-        "converged: iter={} dx={:g} norm(grad)={:g} norm(hess)={:g}", iter, dx,
-        grad_norm);
+        "converged: iter={} dx={:g} norm(grad)={:g}", iter, dx, grad_norm);
 
     for (size_t i = 0; i < m_bodies->num_bodies(); ++i) {
         poses[i].position = x.segment<3>(6 * i);

src/ipc/utils/eigen_ext.tpp

@@ -31,8 +31,7 @@ project_to_pd(
         Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>>
         eigensolver(A);
     if (eigensolver.info() != Eigen::Success) {
-        logger().error("unable to project matrix onto positive definite cone");
-        throw std::runtime_error(
+        log_and_throw_error(
             "unable to project matrix onto positive definite cone");
     }
     // Check if all eigen values are positive.
@@ -76,10 +75,8 @@ project_to_psd(
         Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>>
         eigensolver(A);
     if (eigensolver.info() != Eigen::Success) {
-        logger().error(
+        log_and_throw_error(
             "unable to project matrix onto positive semi-definite cone");
-        throw std::runtime_error(
-            "unable to project matrix onto positive definite cone");
     }
     // Check if all eigen values are zero or positive.
     // The eigenvalues are sorted in increasing order.