/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RVIZ_VALIDATE_FLOAT_H
#define RVIZ_VALIDATE_FLOAT_H

#include <cmath>

#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/Point32.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>
#include <std_msgs/ColorRGBA.h>
#include <OgreVector3.h>
#include <OgreQuaternion.h>

#include <boost/array.hpp>

namespace rviz
{

inline bool validateFloats(Ogre::Real val)
{
  return !(std::isnan(val) || std::isinf(val));
}

inline bool validateFloats(const Ogre::Vector3& vec)
{
  bool valid = true;
  valid = valid && validateFloats(vec.x);
  valid = valid && validateFloats(vec.y);
  valid = valid && validateFloats(vec.z);
  return valid;
}

inline bool validateFloats(const Ogre::Quaternion& quat)
{
  bool valid = true;
  valid = valid && validateFloats(quat.x);
  valid = valid && validateFloats(quat.y);
  valid = valid && validateFloats(quat.z);
  valid = valid && validateFloats(quat.w);
  return valid;
}

inline bool validateFloats(const geometry_msgs::Point& msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.x);
  valid = valid && validateFloats(msg.y);
  valid = valid && validateFloats(msg.z);
  return valid;
}

inline bool validateFloats(const geometry_msgs::Point32& msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.x);
  valid = valid && validateFloats(msg.y);
  valid = valid && validateFloats(msg.z);
  return valid;
}

inline bool validateFloats(const geometry_msgs::Vector3& msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.x);
  valid = valid && validateFloats(msg.y);
  valid = valid && validateFloats(msg.z);
  return valid;
}

inline bool validateFloats(const geometry_msgs::Twist& twist)
{
  bool valid = true;
  valid = valid && validateFloats(twist.linear);
  valid = valid && validateFloats(twist.angular);
  return valid;
}

inline bool validateFloats(const geometry_msgs::Quaternion& msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.x);
  valid = valid && validateFloats(msg.y);
  valid = valid && validateFloats(msg.z);
  valid = valid && validateFloats(msg.w);
  return valid;
}

inline bool validateFloats(const std_msgs::ColorRGBA& msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.r);
  valid = valid && validateFloats(msg.g);
  valid = valid && validateFloats(msg.b);
  valid = valid && validateFloats(msg.a);
  return valid;
}

inline bool validateFloats(const geometry_msgs::PointStamped& msg)
{
  return validateFloats(msg.point);
}

inline bool validateFloats(const geometry_msgs::Pose& msg)
{
  bool valid = true;
  valid = valid && validateFloats(msg.position);
  valid = valid && validateFloats(msg.orientation);
  return valid;
}

inline bool validateFloats(const geometry_msgs::PoseStamped& msg)
{
  return validateFloats(msg.pose);
}

template<typename T>
inline bool validateFloats(const std::vector<T>& vec)
{
  typedef std::vector<T> VecType;
  typename VecType::const_iterator it = vec.begin();
  typename VecType::const_iterator end = vec.end();
  for (; it != end; ++it)
  {
    if (!validateFloats(*it))
    {
      return false;
    }
  }

  return true;
}

template<typename T, size_t N>
inline bool validateFloats(const boost::array<T, N>& arr)
{
  typedef boost::array<T, N> ArrType;
  typename ArrType::const_iterator it = arr.begin();
  typename ArrType::const_iterator end = arr.end();
  for (; it != end; ++it)
  {
    if (!validateFloats(*it))
    {
      return false;
    }
  }

  return true;
}

} // namespace rviz

#endif // RVIZ_VALIDATE_FLOAT_H
