Replace set IsValid() functions with constructor assertions (#185)

include/trajopt/set/ConeSet2d.h

@@ -2,6 +2,7 @@
 
 #pragma once
 
+#include <cassert>
 #include <numbers>
 
 #include "trajopt/SymbolExports.h"
@@ -17,10 +18,14 @@ struct TRAJOPT_DLLEXPORT ConeSet2d {
   IntervalSet1d thetaBound;
 
   /**
-   * Returns true if the set is valid.
+   * Constructs a ConeSet2d.
+   *
+   * @param thetaBound The internal angle of the cone tip. Must be within (0,
+   *   π].
    */
-  constexpr bool IsValid() const noexcept {
-    return thetaBound.Range() > 0.0 && thetaBound.Range() <= std::numbers::pi;
+  explicit constexpr ConeSet2d(const IntervalSet1d& thetaBound)
+      : thetaBound{thetaBound} {
+    assert(thetaBound.Range() > 0.0 && thetaBound.Range() <= std::numbers::pi);
   }
 };
 

include/trajopt/set/EllipticalSet2d.h

@@ -2,7 +2,7 @@
 
 #pragma once
 
-#include <limits>
+#include <cassert>
 
 #include "trajopt/SymbolExports.h"
 
@@ -13,14 +13,14 @@ namespace trajopt {
  */
 struct TRAJOPT_DLLEXPORT EllipticalSet2d {
   /**
-   * FIXME What does this do?
+   * The directionality of the set.
    */
   enum class Direction {
-    /// FIXME What does this do?
+    /// The set is every point inside the ellipse.
     kInside,
-    /// FIXME What does this do?
+    /// The set is every point on the border of the ellipse.
     kCentered,
-    /// FIXME What does this do?
+    /// The set is every point outside the ellipse.
     kOutside
   };
 
@@ -30,9 +30,21 @@ struct TRAJOPT_DLLEXPORT EllipticalSet2d {
   /// The y radius.
   double yRadius;
 
-  /// The direction.
+  /// The set direction.
   Direction direction;
 
+  /**
+   * Construct an EllipticalSet2d.
+   *
+   * @param xRadius The ellipse's x radius. Must be greater than zero.
+   * @param yRadius The ellipse's y radius. Must be greater than zero.
+   * @param direction The set direction.
+   */
+  constexpr EllipticalSet2d(double xRadius, double yRadius, Direction direction)
+      : xRadius{xRadius}, yRadius{yRadius}, direction{direction} {
+    assert(xRadius > 0.0 && yRadius > 0.0);
+  }
+
   /**
    * Construct a circular EllipticalSet2d from a radius.
    *
@@ -43,26 +55,6 @@ struct TRAJOPT_DLLEXPORT EllipticalSet2d {
       double radius, Direction direction = Direction::kInside) {
     return EllipticalSet2d{radius, radius, direction};
   }
-
-  /**
-   * Returns true if the ellipse is a circle.
-   */
-  constexpr bool IsCircular() const noexcept { return xRadius == yRadius; }
-
-  /**
-   * Returns true if the set spans R².
-   */
-  constexpr bool IsR2() const noexcept {
-    return xRadius >= std::numeric_limits<double>::infinity() &&
-           yRadius >= std::numeric_limits<double>::infinity();
-  }
-
-  /**
-   * Returns true if the set is valid.
-   */
-  constexpr bool IsValid() const noexcept {
-    return xRadius > 0.0 && yRadius > 0.0;
-  }
 };
 
 }  // namespace trajopt

include/trajopt/set/IntervalSet1d.h

@@ -2,6 +2,7 @@
 
 #pragma once
 
+#include <cassert>
 #include <limits>
 
 #include "trajopt/SymbolExports.h"
@@ -20,21 +21,23 @@ struct TRAJOPT_DLLEXPORT IntervalSet1d {
   double upper;
 
   /**
-   * Construct a Scalar Bound between a lower and upper bound.
+   * Construct a scalar bound between a lower and upper bound.
    *
-   * @param lower The lower bound.
-   * @param upper The upper bound.
+   * @param lower The lower bound. Must be less than or equal to upper bound.
+   * @param upper The upper bound. Must be greater than or equal to lower bound.
    */
   constexpr IntervalSet1d(double lower, double upper)
-      : lower(lower), upper(upper) {}
+      : lower(lower), upper(upper) {
+    assert(lower <= upper);
+  }
 
   /**
-   * Construct a Scalar Bound that represents the interval [value, value].
+   * Construct a scalar bound that represents the interval [value, value].
    *
    * @param value the value to bound the number between.
    */
-  constexpr IntervalSet1d(double value)
-      : lower(value), upper(value) {}  // NOLINT
+  constexpr IntervalSet1d(double value)  // NOLINT
+      : IntervalSet1d{value, value} {}
 
   constexpr IntervalSet1d() = default;
 
@@ -96,16 +99,6 @@ struct TRAJOPT_DLLEXPORT IntervalSet1d {
    */
   constexpr bool IsExact() const noexcept { return lower == upper; }
 
-  /**
-   * Check if this scalar bound only contains 0. This occurs when
-   * this scalar bound equals 0.0.
-   *
-   * @return lower == 0.0 && upper == 0.0
-   */
-  constexpr bool IsZero() const noexcept {
-    return lower == 0.0 && upper == 0.0;
-  }
-
   /**
    * Returns true if this IntervalSet1d has a lower bound.
    */
@@ -119,15 +112,6 @@ struct TRAJOPT_DLLEXPORT IntervalSet1d {
   constexpr bool IsUpperBounded() const noexcept {
     return upper < +std::numeric_limits<double>::infinity();
   }
-
-  /**
-   * Check if this scalar bound is valid. A scalar bound is valid
-   * if and only if the lower bound is less than or equal to the upper
-   * bound.
-   *
-   * @return lower <= upper
-   */
-  constexpr bool IsValid() const noexcept { return lower <= upper; }
 };
 
 }  // namespace trajopt

include/trajopt/set/RectangularSet2d.h

@@ -22,7 +22,7 @@ struct TRAJOPT_DLLEXPORT RectangularSet2d {
   /**
    * Construct a RectangularSet2d from polar coordinates.
    *
-   * @param r The distance.
+   * @param r The distance. Must be greater than zero.
    * @param theta The heading.
    */
   static RectangularSet2d PolarExactSet2d(double r, double theta) {
@@ -35,18 +35,6 @@ struct TRAJOPT_DLLEXPORT RectangularSet2d {
   static constexpr RectangularSet2d R2() {
     return RectangularSet2d{IntervalSet1d::R1(), IntervalSet1d::R1()};
   }
-
-  /**
-   * @brief Check if this planar bound is valid. A planar bound is valid when
-   * the bounds on a0 and a1 are valid, and additionally for planar bounds, a0
-   * is contained within the interval [0, inf] and a1 is contained within the
-   * interval [-pi, pi].
-   *
-   * @return true if and only if this planar bound is valid
-   */
-  constexpr bool IsValid() const noexcept {
-    return xBound.IsValid() && yBound.IsValid();
-  }
 };
 
 }  // namespace trajopt