[C++] Introduce API for Data check.

CMakeLists.txt

@@ -191,6 +191,7 @@ SET(${PROJECT_NAME}_ALGORITHM_HEADERS
   algorithm/frames.hpp
   algorithm/compute-all-terms.hpp
   algorithm/copy.hpp
+  algorithm/check.hpp
   )
 
 SET(${PROJECT_NAME}_PARSERS_HEADERS

src/multibody/model.hpp

@@ -350,6 +350,9 @@ namespace se3
     void addJointIndexToParentSubtrees(const JointIndex joint_id);
   };
 
+  // Forward declaration needed for Data::check
+  template<class D> struct AlgorithmCheckerBase;
+
   struct Data
   {
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
@@ -505,6 +508,24 @@ namespace se3
     ///
     Data (const Model & model);
 
+    /// Check the validity of the Data attributes with respect to the specification of some
+    /// algorithms.
+    ///
+    /// The method is a template so that the checkers can be defined in each algorithms.
+    /// \param[in] checker a class, typically defined in the algorithm module, that 
+    /// validates the attributes of data.
+    /// \return true if the Data are valid, false otherwise.
+    template<typename D>
+    inline bool check(const AlgorithmCheckerBase<D> & checker) { return checker.checkData(*this); }
+
+    /// Multiple check for a fusion::vector of AlgorithmCheckerBase.
+    ///
+    /// Run the check test for several conditons.
+    /// \param[in] v fusion::vector of algo checkers. The param is typically initialize with 
+    /// boost::fusion::make_vector( AlgoChecker1(), AlgoChecker2(), ...)
+    template<typename FusionVectorCheckers>
+    bool checkAll(const FusionVectorCheckers & v);
+
   private:
     void computeLastChild(const Model& model);
     void computeParents_fromRow(const Model& model);

unittest/CMakeLists.txt

@@ -114,3 +114,4 @@ ADD_UNIT_TEST(joint eigen3)
 ADD_UNIT_TEST(explog eigen3)
 ADD_UNIT_TEST(finite-differences eigen3)
 ADD_UNIT_TEST(visitor eigen3)
+ADD_UNIT_TEST(algo-check eigen3)