checks.hpp File Reference

Object state sanity checks. More...

#include <perception_msgs_utils/utils.hpp>

Go to the source code of this file.

Functions
void	perception_msgs::object_access::sanityCheckContinuousStateSize (const ObjectState &state)
	Perform sanity check on continuous state size of given object state.
void	perception_msgs::object_access::sanityCheckDiscreteStateSize (const ObjectState &state)
	Perform sanity check on discrete state size of given object state.
void	perception_msgs::object_access::sanityCheckContinuousStateCovarianceSize (const ObjectState &state)
	Perform sanity check on continuous state covariance size of given object state.
void	perception_msgs::object_access::sanityCheckContinuousState (const ObjectState &state)
	Perform sanity check on continuous state of given object state.
template<typename T >
void	perception_msgs::object_access::sanityCheckContinuousState (const T &obj)
	Perform sanity check on continuous state of given template object that contains an object state.
void	perception_msgs::object_access::sanityCheckDiscreteState (const ObjectState &state)
	Perform sanity check on discrete state of given object state.
template<typename T >
void	perception_msgs::object_access::sanityCheckDiscreteState (const T &obj)
	Perform sanity check on discrete state of given template object that contains an object state.
void	perception_msgs::object_access::sanityCheckContinuousStateCovariance (const ObjectState &state)
	Perform sanity check on continuous state covariance of given object state.
template<typename T >
void	perception_msgs::object_access::sanityCheckContinuousStateCovariance (const T &obj)
	Perform sanity check on continuous state covariance of given template object that contains an object state.
void	perception_msgs::object_access::sanityCheckFullState (const ObjectState &state)
	Perform sanity check on full state of given object state.
template<typename T >
void	perception_msgs::object_access::sanityCheckFullState (const T &obj)
	Perform sanity check on full state of of given template object that contains an object state.

Variables
const std::string	perception_msgs::object_access::kExceptionInvalidStateSize = "Invalid continuous state size for model with ID: "
const std::string	perception_msgs::object_access::kExceptionInvalidDiscreteStateSize = "Invalid discrete state size for model with ID: "
const std::string	perception_msgs::object_access::kExceptionInvalidStateCovarianceSize = "Invalid continuous state covariance size for model with ID: "

Detailed Description

Object state sanity checks.

Definition in file checks.hpp.

Function Documentation

sanityCheckContinuousState() [1/2]

void perception_msgs::object_access::sanityCheckContinuousState ( const ObjectState &  state )

inline

Perform sanity check on continuous state of given object state.

Parameters

state

Definition at line 63 of file checks.hpp.

                                                                   {
    sanityCheckContinuousStateSize(state);
  }

sanityCheckContinuousState() [2/2]

template<typename T >

void perception_msgs::object_access::sanityCheckContinuousState ( const T &  obj )

inline

Perform sanity check on continuous state of given template object that contains an object state.

Template Parameters

T

Parameters

obj

Definition at line 74 of file checks.hpp.

                                                       {
    sanityCheckContinuousState(obj.state);
  }

sanityCheckContinuousStateCovariance() [1/2]

void perception_msgs::object_access::sanityCheckContinuousStateCovariance ( const ObjectState &  state )

inline

Perform sanity check on continuous state covariance of given object state.

Parameters

state

Definition at line 103 of file checks.hpp.

                                                                             {
    sanityCheckContinuousStateCovarianceSize(state);
  }

sanityCheckContinuousStateCovariance() [2/2]

template<typename T >

void perception_msgs::object_access::sanityCheckContinuousStateCovariance ( const T &  obj )

inline

Perform sanity check on continuous state covariance of given template object that contains an object state.

Template Parameters

T

Parameters

obj

Definition at line 114 of file checks.hpp.

                                                                 {
    sanityCheckContinuousStateCovariance(obj.state);
  }

sanityCheckContinuousStateCovarianceSize()

void perception_msgs::object_access::sanityCheckContinuousStateCovarianceSize ( const ObjectState &  state )

inline

Perform sanity check on continuous state covariance size of given object state.

Parameters

state

Definition at line 51 of file checks.hpp.

                                                                                 {
    int exp_state_cov_size = getContinuousStateCovarianceSize(state.model_id);
    int state_cov_size = state.continuous_state_covariance.size();
    if (state_cov_size != 0 && state_cov_size != exp_state_cov_size)
      throw std::invalid_argument(kExceptionInvalidStateCovarianceSize + std::to_string(state.model_id) + ", " + std::to_string(state_cov_size) + " != " + std::to_string(exp_state_cov_size));
  }

sanityCheckContinuousStateSize()

void perception_msgs::object_access::sanityCheckContinuousStateSize ( const ObjectState &  state )

inline

Perform sanity check on continuous state size of given object state.

Parameters

state

Definition at line 27 of file checks.hpp.

                                                                       {
    int exp_state_size = getContinuousStateSize(state.model_id);
    int state_size = getContinuousStateSize(state);
    if (state_size != exp_state_size)
      throw std::invalid_argument(kExceptionInvalidStateSize + std::to_string(state.model_id) + ", " + std::to_string(state_size) + " != " + std::to_string(exp_state_size));
  }

sanityCheckDiscreteState() [1/2]

void perception_msgs::object_access::sanityCheckDiscreteState ( const ObjectState &  state )

inline

Perform sanity check on discrete state of given object state.

Parameters

state

Definition at line 83 of file checks.hpp.

                                                                 {
    sanityCheckDiscreteStateSize(state);
  }

sanityCheckDiscreteState() [2/2]

template<typename T >

void perception_msgs::object_access::sanityCheckDiscreteState ( const T &  obj )

inline

Perform sanity check on discrete state of given template object that contains an object state.

Template Parameters

T

Parameters

obj

Definition at line 94 of file checks.hpp.

                                                     {
    sanityCheckDiscreteState(obj.state);
  }

sanityCheckDiscreteStateSize()

void perception_msgs::object_access::sanityCheckDiscreteStateSize ( const ObjectState &  state )

inline

Perform sanity check on discrete state size of given object state.

Parameters

state

Definition at line 39 of file checks.hpp.

                                                                     {
    int exp_discrete_state_size = getDiscreteStateSize(state.model_id);
    int discrete_state_size = getDiscreteStateSize(state);
    if (discrete_state_size != exp_discrete_state_size)
      throw std::invalid_argument(kExceptionInvalidDiscreteStateSize + std::to_string(state.model_id) + ", " + std::to_string(discrete_state_size) + " != " + std::to_string(exp_discrete_state_size));
  }

sanityCheckFullState() [1/2]

void perception_msgs::object_access::sanityCheckFullState ( const ObjectState &  state )

inline

Perform sanity check on full state of given object state.

Parameters

state

Definition at line 123 of file checks.hpp.

                                                             {
    sanityCheckContinuousState(state);
    sanityCheckDiscreteState(state);
    sanityCheckContinuousStateCovariance(state);
  }

sanityCheckFullState() [2/2]

template<typename T >

void perception_msgs::object_access::sanityCheckFullState ( const T &  obj )

inline

Perform sanity check on full state of of given template object that contains an object state.

Template Parameters

T

Parameters

obj

Definition at line 136 of file checks.hpp.

                                                 {
    sanityCheckFullState(obj.state);
  }

Variable Documentation

kExceptionInvalidDiscreteStateSize

const std::string perception_msgs::object_access::kExceptionInvalidDiscreteStateSize = "Invalid discrete state size for model with ID: "

Definition at line 19 of file checks.hpp.

kExceptionInvalidStateCovarianceSize

const std::string perception_msgs::object_access::kExceptionInvalidStateCovarianceSize = "Invalid continuous state covariance size for model with ID: "

Definition at line 20 of file checks.hpp.

kExceptionInvalidStateSize

const std::string perception_msgs::object_access::kExceptionInvalidStateSize = "Invalid continuous state size for model with ID: "

Definition at line 18 of file checks.hpp.