eigen_assert.h

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// WOLF - Copyright (C) 2020-2026
// Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu) and
// Joan Vallvé Navarro (jvallve@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF: http://www.iri.upc.edu/wolf
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License version 3
// as published by the Free Software Foundation.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#pragma once
 
#include <Eigen/Dense>
 
namespace Eigen
{
 
template <int Size, int DesiredSize>
struct StaticDimCheck
{
    template <typename T>
    StaticDimCheck(const T&)
    {
        static_assert(Size == DesiredSize, "Size of static Vector or Matrix does not match");
    }
};
 
template <int DesiredSize>
struct StaticDimCheck<Eigen::Dynamic, DesiredSize>
{
    template <typename T>
    StaticDimCheck(const T& t)
    {
        if (t != DesiredSize) std::cerr << "t : " << t << " != DesiredSize : " << DesiredSize << std::endl;
        assert(t == DesiredSize && "Size of dynamic Vector or Matrix does not match");
    }
};
 
template <int DesiredR, int DesiredC>
struct MatrixSizeCheck
{
    template <typename T>
    static void check(const Eigen::MatrixBase<T>& t)
    {
        StaticDimCheck<Eigen::MatrixBase<T>::RowsAtCompileTime, DesiredR>(t.rows());
        StaticDimCheck<Eigen::MatrixBase<T>::ColsAtCompileTime, DesiredC>(t.cols());
    }
};
 
template <int Dim>
using VectorSizeCheck = MatrixSizeCheck<Dim, 1>;
 
template <int Dim>
using RowVectorSizeCheck = MatrixSizeCheck<1, Dim>;
 
} /* namespace Eigen */