Using smaller functions instead when we are only using the code once, may help on readability but can cost speed and space. (Think of what standard code C uses to enter and exit a function.) But then again, you can get around that by using declaring those functions as inline.
> The alternative is: do the cleanup at every return, use goto or use
> try/finally.
> 1)Cleanup at every return is madness. Most functions in ros do a large
> amount of cleanup at each return and I sometimes spot mistakes where
> one/more return misses some cleanup. Those errors are _hard_ to find.
The functions are too large then. Use more smaller functions instead.
Casper
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