SLAM.Localization.RGBDLocalizationCatalog.ValidHeader

Parameters, inputs, outputs, defaults and equations from the source file.

function ValidHeader
    input State state;
    output Boolean valid;
  algorithm
    valid := state.generation >= 1 and state.generation <= identifierLimit
      and state.sourceRevision >= 1 and state.sourceRevision <= identifierLimit
      and state.steps >= 0 and state.steps < identifierLimit
      and state.predictionTime >= 0.0 and state.predictionTime <= 1e9
      and state.lastProcessedImageEpoch >= -1 and state.lastProcessedImageEpoch <= identifierLimit
      and state.lastProcessedImageTime >= 0.0 and state.lastProcessedImageTime <= state.predictionTime
      and RGBDKeyframes.ValidHeader(state.catalog)
      and state.catalog.generation == state.generation and state.graph.generation == state.generation
      and state.map.generation == state.generation
      and state.graph.revision >= 0 and state.graph.revision < identifierLimit
      and state.graph.lastCaptureId == state.catalog.nextId-1
      and state.graph.nextEdgeId >= 1 and state.graph.nextEdgeId <= identifierLimit
      and state.map.catalogRevision >= 0 and state.map.catalogRevision <= state.graph.revision
      and state.catalog.lastEpoch <= state.lastProcessedImageEpoch
      and state.map.imageEpoch >= -1 and state.map.imageEpoch <= state.lastProcessedImageEpoch
      and state.catalog.lastTime <= state.predictionTime and state.map.imageTime >= 0.0 and state.map.imageTime <= state.predictionTime
      and state.map.frame >= 0.0 and state.map.frame < identifierLimit
      and SLAMExactRealEqual(state.map.frame,floor(state.map.frame))
      and abs(state.map.worldFrame) <= 1e9
      and state.referenceBirth.generation == state.generation;
    if state.initialized then
      valid := valid and state.steps >= 1;
    else
      valid := valid and state.steps == 0 and SLAMExactRealEqual(state.predictionTime,0.0)
        and state.lastProcessedImageEpoch == -1 and state.catalog.nextId == 1
        and state.graph.revision == 0 and SLAMExactRealEqual(state.map.frame,0.0)
        and SLAMExactRealEqual(state.estimator.referenceAvailable,0.0)
        and SLAMExactRealEqual(state.estimator.lastUsedEpoch,-1.0);
    end if;
    if SLAMExactRealEqual(state.estimator.referenceAvailable,1.0) then
      valid := valid and state.referenceBirth.sequence >= 1 and state.referenceBirth.sequence <= state.steps
        and state.referenceBirth.epoch >= 0 and state.referenceBirth.epoch <= state.lastProcessedImageEpoch
        and SLAMExactRealEqual(state.estimator.referenceEpoch,state.referenceBirth.epoch)
        and state.referenceBirth.catalogId >= 0 and state.referenceBirth.catalogId < state.catalog.nextId;
    else
      valid := valid and state.referenceBirth.sequence == 0 and state.referenceBirth.epoch == -1
        and state.referenceBirth.catalogId == 0;
    end if;
  end ValidHeader;