SLAM.PoseGraph.GraphGaugeUncertainty.ValidBinding

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

function ValidBinding
    input Binding b; output Boolean valid;
  algorithm
    valid := b.generation > 0 and b.graphRevision > 0 and b.catalogPoseRevision >= 0
      and b.anchorId > 0 and b.anchorEpoch >= 0 and b.anchorCaptureSequence > 0
      and b.currentId > 0 and b.currentCaptureSequence > 0 and b.referenceId > 0 and (b.currentId <> b.referenceId or SameCapture(b))
      and b.currentEpoch >= b.referenceEpoch and b.referenceEpoch >= b.anchorEpoch
      and b.referenceCaptureSequence > 0 and b.chart == chartENUPositionRightLocalAttitude
      and b.anchorTime >= 0 and b.anchorTime <= b.referenceTime and b.referenceTime <= b.currentTime
      and b.currentTime <= 1e12 and b.sourceRevision > 0 and b.factorProvenance > 0
      and b.anchorBoundProvenance > 0;
    if b.currentId == b.anchorId then
      valid := valid and b.currentEpoch == b.anchorEpoch and b.currentTime == b.anchorTime
        and b.currentCaptureSequence == b.anchorCaptureSequence;
    end if;
    if b.referenceId == b.anchorId then
      valid := valid and b.referenceEpoch == b.anchorEpoch and b.referenceTime == b.anchorTime
        and b.referenceCaptureSequence == b.anchorCaptureSequence;
    end if;
  end ValidBinding;