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[wpimath] Catch incorrect parameters to state-space models earlier (#3680)

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This allows giving more descriptive exceptions than if they are thrown
later in KalmanFilter, for example.

Fixes #3678.
This commit is contained in:
Tyler Veness
2021-10-27 20:18:57 -07:00
committed by GitHub
parent 8d04606c4d
commit 187f50a344
4 changed files with 246 additions and 1 deletions
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23
wpimath/src/main/native/include/frc/system/LinearSystem.h
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@@ -6,6 +6,7 @@
#include <algorithm>
#include <functional>
#include <stdexcept>
#include "Eigen/Core"
#include "frc/StateSpaceUtil.h"
@@ -32,11 +33,33 @@ class LinearSystem {
* @param B Input matrix.
* @param C Output matrix.
* @param D Feedthrough matrix.
* @throws std::domain_error if any matrix element isn't finite.
*/
LinearSystem(const Eigen::Matrix<double, States, States>& A,
const Eigen::Matrix<double, States, Inputs>& B,
const Eigen::Matrix<double, Outputs, States>& C,
const Eigen::Matrix<double, Outputs, Inputs>& D) {
if (!A.allFinite()) {
throw std::domain_error(
"Elements of A aren't finite. This is usually due to model "
"implementation errors.");
}
if (!B.allFinite()) {
throw std::domain_error(
"Elements of B aren't finite. This is usually due to model "
"implementation errors.");
}
if (!C.allFinite()) {
throw std::domain_error(
"Elements of C aren't finite. This is usually due to model "
"implementation errors.");
}
if (!D.allFinite()) {
throw std::domain_error(
"Elements of D aren't finite. This is usually due to model "
"implementation errors.");
}
m_A = A;
m_B = B;
m_C = C;