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ustrip(dist_tolerance) <=0.0&&throw(ArgumentError("dist_tolerance must be greater than zero"))
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ustrip(vel_tolerance) <=0.0&&throw(ArgumentError("vel_tolerance must be greater than zero"))
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(isnothing(dist_constraints)&&isnothing(angle_constraints)) &&throw(ArgumentError("At least one of dist_constraints or angle_constraints must be provided"))
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(length(dist_constraints) <0&&length(angle_constraints) <0) &&throw(ArgumentError("At least one of dist_constraints or angle_constraints must be non-empty"))
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(dc_isnothing&&ac_isnothing) &&throw(ArgumentError("At least one of dist_constraints or angle_constraints must be provided"))
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(dc_length ==0&&ac_length ==0) &&throw(ArgumentError("At least one of dist_constraints or angle_constraints must be non-empty"))
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