Validate partial measurements #125
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svwilliams
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This runs the following validation check for all partial measurements:
meanvalues must be finitecovariancemust be symmetriccovariancemust be positive-definiteIf any of the validation checks fail, and
std::runtime_errorexception is thrown.In this implementation the exception is NOT caught, but it should be trivial to catch and do something like
ROS_WARN_STREAM("<message>: " << ex.what());and correct the values/covariance, it that sounds like a better approach.