function

SLAM.PoseGraph.RGBDGraphProcessing.Valid

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`state`	`State`
output	`valid`	`Boolean`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function Valid
    input State state;
    output Boolean valid;
  algorithm
    valid := RGBDLocalizationCatalog.ValidHeader(state.estimator.localization)
      and RGBDLocalizationCatalog.ValidEstimator(state.estimator.localization.estimator)
      and RGBDVisualVocabulary.Valid(state.vocabulary)
      and state.vocabulary.generation == state.estimator.localization.generation
      and state.vocabulary.sourceRevision == state.estimator.localization.sourceRevision
      and state.vocabulary.version == state.estimator.localization.catalog.vocabularyVersion
      and (state.estimator.localization.catalog.nextId == 1 or state.vocabulary.ready)
      and RGBDGraphEstimatorCommit.ValidView(state.estimator.localization.catalog,
        state.estimator.poses,state.estimator.localization.sourceRevision)
      and RGBDGraphCaptureLedger.Valid(state.captures,state.estimator.localization.catalog,
        state.estimator.localization.sourceRevision,state.estimator.localization.steps)
      and state.estimator.correctionRevision >= 0 and state.estimator.correctionRevision < identifierLimit
      and state.estimator.graphRevisionUsed >= 0
      and state.estimator.graphRevisionUsed <= state.estimator.localization.graph.revision
      and state.estimator.correctionRevision <= state.estimator.graphRevisionUsed
      and ((state.estimator.correctionRevision == 0) == (state.estimator.graphRevisionUsed == 0))
      and state.attempt.generation == state.estimator.localization.generation
      and state.attempt.graphRevision >= state.estimator.graphRevisionUsed
      and state.attempt.graphRevision <= state.estimator.localization.graph.revision
      and state.attempt.factorProvenance == state.attempt.graphRevision
      and state.anchor.binding.generation == state.estimator.localization.generation
      and state.anchor.binding.sourceRevision == state.estimator.localization.sourceRevision
      and state.selected.binding.generation == state.estimator.localization.generation
      and state.selected.binding.sourceRevision == state.estimator.localization.sourceRevision;
    // These are receipts of the last ACCEPTED correction. Ordinary capture
    // may advance graph/pose revisions or evict their anchor. Never treat a
    // historical receipt as a bound on today's graph: Correct regenerates it.
    if state.estimator.correctionRevision == 0 then
      valid := valid and state.anchor.binding.provenance == 0
        and state.selected.binding.graphRevision == 0;
    else
      valid := valid and GraphGaugeUncertainty.ValidBinding(state.selected.binding)
        and state.selected.binding.graphRevision == state.estimator.graphRevisionUsed
        and state.selected.binding.factorProvenance == state.estimator.graphRevisionUsed
        and state.selected.binding.anchorBoundProvenance == state.anchor.binding.provenance
        and state.anchor.binding.provenance == state.estimator.graphRevisionUsed
        and state.anchor.binding.id == state.selected.binding.anchorId
        and state.anchor.binding.id <= identifierLimit
        and state.anchor.binding.slot >= 1 and state.anchor.binding.slot <= nodeCapacity
        and state.anchor.binding.slot == mod(state.anchor.binding.id-1,nodeCapacity)+1
        and state.anchor.binding.epoch == state.selected.binding.anchorEpoch
        and state.anchor.binding.sequence == state.selected.binding.anchorCaptureSequence
        and state.anchor.binding.imageTime == state.selected.binding.anchorTime
        and state.anchor.binding.catalogPoseRevision == state.selected.binding.catalogPoseRevision
        and state.anchor.binding.catalogPoseRevision <= state.estimator.poses.revision;
    end if;
  end Valid;