validate_floats.h

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#ifndef ROBOT_NAV_RVIZ_PLUGINS_VALIDATE_FLOATS_H
#define ROBOT_NAV_RVIZ_PLUGINS_VALIDATE_FLOATS_H

#include <geometry_msgs/Pose2D.h>
#include <nav_grid/nav_grid_info.h>
#include <nav_2d_msgs/Path2D.h>
#include <nav_2d_msgs/Point2D.h>
#include <nav_2d_msgs/Polygon2D.h>
#include <nav_2d_msgs/ComplexPolygon2D.h>
#include <rviz/validate_floats.h>
#include <vector>

namespace robot_nav_rviz_plugins
{
inline bool validateFloats(const nav_grid::NavGridInfo& info)
{
  return rviz::validateFloats(info.resolution)
      && rviz::validateFloats(info.origin_x)
      && rviz::validateFloats(info.origin_y);
}

inline bool validateFloats(const geometry_msgs::Pose2D& pose)
{
  return rviz::validateFloats(pose.x)
      && rviz::validateFloats(pose.y)
      && rviz::validateFloats(pose.theta);
}

inline bool validateFloats(const nav_2d_msgs::Point2D& point)
{
  return rviz::validateFloats(point.x) && rviz::validateFloats(point.y);
}

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

inline bool validateFloats(const nav_2d_msgs::Path2D& msg)
{
  return validateFloats(msg.poses);
}

inline bool validateFloats(const nav_2d_msgs::Polygon2D& msg)
{
  return validateFloats(msg.points);
}

inline bool validateFloats(const nav_2d_msgs::ComplexPolygon2D& msg)
{
  if (!validateFloats(msg.outer)) return false;
  for (const auto& inner : msg.inner)
  {
    if (!validateFloats(inner)) return false;
  }
  return true;
}

}  // namespace robot_nav_rviz_plugins

#endif  // ROBOT_NAV_RVIZ_PLUGINS_VALIDATE_FLOATS_H