Enable ExpressionIfThenElse::Substitute(const Substitution& s)

patmarion · Feb 2, 2017 · 63bbc3b · 63bbc3b
1 parent 1608668
commit 63bbc3b
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/drake/common/symbolic_expression_cell.cc b/drake/common/symbolic_expression_cell.cc
@@ -1246,10 +1246,8 @@ double ExpressionIfThenElse::Evaluate(const Environment& env) const {
 }
 
 Expression ExpressionIfThenElse::Substitute(const Substitution& s) const {
-  // TODO(soonho): implement this.
-  throw runtime_error("Not yet implemented.");
-  // return if_then_else(f_cond_.Substitute(s), e_then_.Substitute(s),
-  //                     e_else_.Substitute(s));
+  return if_then_else(f_cond_.Substitute(s), e_then_.Substitute(s),
+                      e_else_.Substitute(s));
 }
 
 ostream& ExpressionIfThenElse::Display(ostream& os) const {