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use static_assert over covariance matrices URT array size

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TSC21
2018-09-18 09:52:33 +02:00
committed by Lorenz Meier
parent 7db57bedb7
commit 746250d86d
2 changed files with 21 additions and 9 deletions
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src/modules/simulator/simulator_mavlink.cpp
+9 -1
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@@ -1155,8 +1155,12 @@ int Simulator::publish_odometry_topic(mavlink_message_t *odom_mavlink)
matrix::Quatf q(odom_msg.q[0], odom_msg.q[1], odom_msg.q[2], odom_msg.q[3]);
q.copyTo(odom.q);
const size_t POS_URT_SIZE = sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0]);
static_assert(POS_URT_SIZE == (sizeof(odom_msg.pose_covariance) / sizeof(odom_msg.pose_covariance[0])),
"Odometry Pose Covariance matrix URT array size mismatch");
/* The pose covariance URT */
for (size_t i = 0; i < (sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0])); i++) {
for (size_t i = 0; i < POS_URT_SIZE; i++) {
odom.pose_covariance[i] = odom_msg.pose_covariance[i];
}
@@ -1169,6 +1173,10 @@ int Simulator::publish_odometry_topic(mavlink_message_t *odom_mavlink)
odom.pitchspeed = odom_msg.pitchspeed;
odom.yawspeed = odom_msg.yawspeed;
const size_t VEL_URT_SIZE = sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0]);
static_assert(VEL_URT_SIZE == (sizeof(odom_msg.twist_covariance) / sizeof(odom_msg.twist_covariance[0])),
"Odometry Velocity Covariance matrix URT array size mismatch");
/* The velocity covariance URT */
for (size_t i = 0; i < (sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0])); i++) {
odom.velocity_covariance[i] = odom_msg.twist_covariance[i];