validate_floats.h
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef RVIZ_VALIDATE_FLOAT_H
00031 #define RVIZ_VALIDATE_FLOAT_H
00032 
00033 #include <cmath>
00034 
00035 #include <geometry_msgs/PointStamped.h>
00036 #include <geometry_msgs/Point32.h>
00037 #include <geometry_msgs/Vector3.h>
00038 #include <geometry_msgs/PoseStamped.h>
00039 #include <geometry_msgs/Twist.h>
00040 #include <std_msgs/ColorRGBA.h>
00041 #include <OGRE/OgreVector3.h>
00042 #include <OGRE/OgreQuaternion.h>
00043 
00044 #include <boost/array.hpp>
00045 
00046 namespace rviz
00047 {
00048 
00049 inline bool validateFloats(float val)
00050 {
00051   return !(std::isnan(val) || std::isinf(val));
00052 }
00053 
00054 inline bool validateFloats(double val)
00055 {
00056   return !(std::isnan(val) || std::isinf(val));
00057 }
00058 
00059 inline bool validateFloats(const Ogre::Vector3& vec)
00060 {
00061   bool valid = true;
00062   valid = valid && validateFloats(vec.x);
00063   valid = valid && validateFloats(vec.y);
00064   valid = valid && validateFloats(vec.z);
00065   return valid;
00066 }
00067 
00068 inline bool validateFloats(const Ogre::Quaternion& quat)
00069 {
00070   bool valid = true;
00071   valid = valid && validateFloats(quat.x);
00072   valid = valid && validateFloats(quat.y);
00073   valid = valid && validateFloats(quat.z);
00074   valid = valid && validateFloats(quat.w);
00075   return valid;
00076 }
00077 
00078 inline bool validateFloats(const geometry_msgs::Point& msg)
00079 {
00080   bool valid = true;
00081   valid = valid && validateFloats(msg.x);
00082   valid = valid && validateFloats(msg.y);
00083   valid = valid && validateFloats(msg.z);
00084   return valid;
00085 }
00086 
00087 inline bool validateFloats(const geometry_msgs::Point32& msg)
00088 {
00089   bool valid = true;
00090   valid = valid && validateFloats(msg.x);
00091   valid = valid && validateFloats(msg.y);
00092   valid = valid && validateFloats(msg.z);
00093   return valid;
00094 }
00095 
00096 inline bool validateFloats(const geometry_msgs::Vector3& msg)
00097 {
00098   bool valid = true;
00099   valid = valid && validateFloats(msg.x);
00100   valid = valid && validateFloats(msg.y);
00101   valid = valid && validateFloats(msg.z);
00102   return valid;
00103 }
00104 
00105 inline bool validateFloats(const geometry_msgs::Twist& twist)
00106 {
00107   bool valid = true;
00108   valid = valid && validateFloats(twist.linear);
00109   valid = valid && validateFloats(twist.angular);
00110   return valid;
00111 }
00112 
00113 inline bool validateFloats(const geometry_msgs::Quaternion& msg)
00114 {
00115   bool valid = true;
00116   valid = valid && validateFloats(msg.x);
00117   valid = valid && validateFloats(msg.y);
00118   valid = valid && validateFloats(msg.z);
00119   valid = valid && validateFloats(msg.w);
00120   return valid;
00121 }
00122 
00123 inline bool validateFloats(const std_msgs::ColorRGBA& msg)
00124 {
00125   bool valid = true;
00126   valid = valid && validateFloats(msg.r);
00127   valid = valid && validateFloats(msg.g);
00128   valid = valid && validateFloats(msg.b);
00129   valid = valid && validateFloats(msg.a);
00130   return valid;
00131 }
00132 
00133 inline bool validateFloats(const geometry_msgs::PointStamped& msg)
00134 {
00135   return validateFloats(msg.point);
00136 }
00137 
00138 inline bool validateFloats(const geometry_msgs::Pose& msg)
00139 {
00140   bool valid = true;
00141   valid = valid && validateFloats(msg.position);
00142   valid = valid && validateFloats(msg.orientation);
00143   return valid;
00144 }
00145 
00146 inline bool validateFloats(const geometry_msgs::PoseStamped& msg)
00147 {
00148   return validateFloats(msg.pose);
00149 }
00150 
00151 template<typename T>
00152 inline bool validateFloats(const std::vector<T>& vec)
00153 {
00154   typedef std::vector<T> VecType;
00155   typename VecType::const_iterator it = vec.begin();
00156   typename VecType::const_iterator end = vec.end();
00157   for (; it != end; ++it)
00158   {
00159     if (!validateFloats(*it))
00160     {
00161       return false;
00162     }
00163   }
00164 
00165   return true;
00166 }
00167 
00168 template<typename T, size_t N>
00169 inline bool validateFloats(const boost::array<T, N>& arr)
00170 {
00171   typedef boost::array<T, N> ArrType;
00172   typename ArrType::const_iterator it = arr.begin();
00173   typename ArrType::const_iterator end = arr.end();
00174   for (; it != end; ++it)
00175   {
00176     if (!validateFloats(*it))
00177     {
00178       return false;
00179     }
00180   }
00181 
00182   return true;
00183 }
00184 
00185 } // namespace rviz
00186 
00187 #endif // RVIZ_VALIDATE_FLOAT_H


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:33