CSpace.cpp

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotComponents
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */
#include "CSpace.h"
 
#include <ArmarXCore/core/logging/Logging.h>
 
namespace armarx
{
    bool
    CSpace::isValidConfiguration(const ::std::pair<const Ice::Float*, const Ice::Float*>& config,
                                 const Ice::Current&) const
    {
        ARMARX_CHECK_EXPRESSION(config.second - config.first == getDimensionality());
        auto it = config.first;
 
        for (const auto& dim : getDimensionsBounds())
        {
            if (*it < dim.min - std::numeric_limits<float>::epsilon() ||
                *it > dim.max + std::numeric_limits<float>::epsilon())
            {
                return false;
            }
            ++it;
        }
        return true;
    }
} // namespace armarx