validate_floats.h

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/*
 * Copyright (c) 2018, the neonavigation authors
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#ifndef TRAJECTORY_TRACKER_RVIZ_PLUGINS_VALIDATE_FLOATS_H
#define TRAJECTORY_TRACKER_RVIZ_PLUGINS_VALIDATE_FLOATS_H

#include <vector>

#include <rviz/validate_floats.h>
#ifdef HAVE_VALIDATE_QUATERNION_H
#include <rviz/validate_quaternions.h>
#endif

#include <trajectory_tracker_msgs/PathWithVelocity.h>
#include <trajectory_tracker_msgs/PoseStampedWithVelocity.h>

namespace trajectory_tracker_rviz_plugins
{
inline bool validateFloats(const trajectory_tracker_msgs::PoseStampedWithVelocity& msg)
{
  return rviz::validateFloats(msg.pose.position) &&
         rviz::validateFloats(msg.pose.orientation);
  // NaN value in linear_velocity means "Don't Care"; don't validate linear_velocity field
}

template <typename T>
inline bool validateFloats(const std::vector<T>& vec)
{
  for (const T& e : vec)
  {
    if (!validateFloats(e))
      return false;
  }
  return true;
}

inline bool validateFloats(const trajectory_tracker_msgs::PathWithVelocity& msg)
{
  return validateFloats(msg.poses);
}

#ifdef HAVE_VALIDATE_QUATERNION_H
inline bool validateQuaternions(const trajectory_tracker_msgs::PoseStampedWithVelocity& msg)
{
  return rviz::validateQuaternions(msg.pose.orientation);
}

template <typename T>
inline bool validateQuaternions(const std::vector<T>& vec)
{
  for (const T& e : vec)
  {
    if (!validateQuaternions(e))
      return false;
  }
  return true;
}
#endif

}  // namespace trajectory_tracker_rviz_plugins

#endif  // TRAJECTORY_TRACKER_RVIZ_PLUGINS_VALIDATE_FLOATS_H