validate_qgoal#

namespace saltro
namespace validation

Functions

bool validateQGoal(const Eigen::Ref<const Eigen::MatrixXd> &q_goal, std::string &error_msg)#

Validate attitude goal matrix q_goal.

Expected shape is (4, N), one goal per column. For each column, two formats are allowed:

  • Quaternion goal: [q0, qx, qy, qz] (all finite, norm ~= 1)

  • ECI vector goal: [NaN, x, y, z] (x,y,z finite, norm ~= 1)

Mixed column types are allowed.

Validation checks include:

  • matrix has 4 rows and at least 1 column

  • rows 2..4 never contain NaN/Inf

  • quaternion goals are finite and normalized

  • ECI vector goals are finite and normalized

Parameters:

  • q_goal – Goal matrix of shape (4, N).

  • error_msg – Output error message on failure.

Returns:

true if valid, false otherwise.