function

SLAM.PoseGraph.RGBDGraphMeasurements.Bound

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type
input	`catalog`	`RGBDKeyframes.Catalog`
input	`id`	`Integer`
input	`slot`	`Integer`
input	`epoch`	`Integer`
output	`valid`	`Boolean`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function Bound
    input RGBDKeyframes.Catalog catalog;
    input Integer id; input Integer slot; input Integer epoch;
    output Boolean valid;
  algorithm
    // Header certification belongs to the caller. Integer domains precede
    // subtraction, ring arithmetic and all catalog subscripts.
    valid := catalog.nextId >= 1 and catalog.nextId <= identifierLimit
      and catalog.lastEpoch >= -1 and catalog.lastEpoch <= identifierLimit;
    if valid then
      valid := id >= max(1,catalog.nextId-nodeCapacity) and id < catalog.nextId
        and slot >= 1 and slot <= nodeCapacity and epoch >= 0 and epoch <= catalog.lastEpoch;
    end if;
    if valid then
      valid := mod(id-1,nodeCapacity)+1 == slot;
      if valid then
        valid := catalog.occupied[slot] and catalog.ids[slot] == id
          and catalog.generations[slot] == catalog.generation
          and catalog.epochs[slot] == epoch;
      end if;
    end if;
  end Bound;