validate_initialstate#

namespace saltro
namespace validation

Functions

bool validateInitialState(const Eigen::Ref<const Eigen::VectorXd> &x0, std::string &error_msg)#

Validate the initial state vector for trajectory optimization.

The state vector x0 contains:

  • [0:3] Angular velocity (rad/s) in body frame

  • [3:7] Quaternion (q0, q1, q2, q3) representing attitude

  • [7:] (optional) Reaction wheel angular momenta

This function validates:

  1. Angular velocity components:

    • Are finite (not NaN or infinity)

    • Are within reasonable limits (< 10 rad/s)

  2. Quaternion components:

    • Are finite (not NaN)

    • Are normalized: |norm - 1.0| <= 1e-6

Parameters:

  • x0 – Initial state vector (minimum size 7)

  • error_msg – Output string describing validation failure (if any)

Throws:

std::invalid_argument – if x0 has fewer than 7 elements

Returns:

true if state is valid, false otherwise