forked from ros-visualization/rviz
-
Notifications
You must be signed in to change notification settings - Fork 1
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Added checks for invalid quaternions. (ros-visualization#1167)
* Added check for invalid quaternions. * Updated copyright Apparently keeping "Willow Garage, Inc" (ros-visualization#1142) was not the right thing (ros-visualization#1113). * Relaxed tolerance as discussed in ros-visualization#1167
- Loading branch information
1 parent
041273a
commit b329145
Showing
9 changed files
with
190 additions
and
13 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,112 @@ | ||
| /* | ||
| * Copyright (c) 2017, Stefan Fabian | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of the Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| */ | ||
|
|
||
| #ifndef RVIZ_VALIDATE_QUATERNIONS_H | ||
| #define RVIZ_VALIDATE_QUATERNIONS_H | ||
|
|
||
| #include <geometry_msgs/PoseStamped.h> | ||
| #include <OgreQuaternion.h> | ||
| #include <tf/LinearMath/Quaternion.h> | ||
|
|
||
| #include <boost/array.hpp> | ||
|
|
||
| namespace rviz | ||
| { | ||
|
|
||
| inline bool validateQuaternions( float w, float x, float y, float z ) | ||
| { | ||
| return std::abs( w * w + x * x + y * y + z * z - 1.0f ) < 10e-3f; | ||
| } | ||
|
|
||
| inline bool validateQuaternions( double w, double x, double y, double z ) | ||
| { | ||
| return std::abs( w * w + x * x + y * y + z * z - 1.0 ) < 10e-3; | ||
| } | ||
|
|
||
| inline bool validateQuaternions( Ogre::Quaternion quaternion ) | ||
| { | ||
| return validateQuaternions( quaternion.w, quaternion.x, quaternion.y, quaternion.z ); | ||
| } | ||
|
|
||
| inline bool validateQuaternions( tf::Quaternion quaternion ) | ||
| { | ||
| return validateQuaternions( quaternion.w(), quaternion.x(), quaternion.y(), quaternion.z()); | ||
| } | ||
|
|
||
| inline bool validateQuaternions( const geometry_msgs::Quaternion &msg ) | ||
| { | ||
| return validateQuaternions( msg.w, msg.x, msg.y, msg.z ); | ||
| } | ||
|
|
||
| inline bool validateQuaternions( const geometry_msgs::Pose &msg ) | ||
| { | ||
| return validateQuaternions( msg.orientation ); | ||
| } | ||
|
|
||
| inline bool validateQuaternions( const geometry_msgs::PoseStamped &msg ) | ||
| { | ||
| return validateQuaternions( msg.pose ); | ||
| } | ||
|
|
||
| template<typename T> | ||
| inline bool validateQuaternions( const std::vector<T> &vec ) | ||
| { | ||
| typedef std::vector<T> VecType; | ||
| typename VecType::const_iterator it = vec.begin(); | ||
| typename VecType::const_iterator end = vec.end(); | ||
| for ( ; it != end; ++it ) | ||
| { | ||
| if ( !validateQuaternions( *it )) | ||
| { | ||
| return false; | ||
| } | ||
| } | ||
|
|
||
| return true; | ||
| } | ||
|
|
||
| template<typename T, size_t N> | ||
| inline bool validateQuaternions( const boost::array<T, N> &arr ) | ||
| { | ||
| typedef boost::array<T, N> ArrType; | ||
| typename ArrType::const_iterator it = arr.begin(); | ||
| typename ArrType::const_iterator end = arr.end(); | ||
| for ( ; it != end; ++it ) | ||
| { | ||
| if ( !validateQuaternions( *it )) | ||
| { | ||
| return false; | ||
| } | ||
| } | ||
|
|
||
| return true; | ||
| } | ||
| } // namespace rviz | ||
|
|
||
| #endif // RVIZ_VALIDATE_QUATERNIONS_H |