public void RosValidate() { if (WorkspaceParameters is null) { throw new System.NullReferenceException(nameof(WorkspaceParameters)); } WorkspaceParameters.RosValidate(); if (StartState is null) { throw new System.NullReferenceException(nameof(StartState)); } StartState.RosValidate(); if (GoalConstraints is null) { throw new System.NullReferenceException(nameof(GoalConstraints)); } for (int i = 0; i < GoalConstraints.Length; i++) { if (GoalConstraints[i] is null) { throw new System.NullReferenceException($"{nameof(GoalConstraints)}[{i}]"); } GoalConstraints[i].RosValidate(); } if (PathConstraints is null) { throw new System.NullReferenceException(nameof(PathConstraints)); } PathConstraints.RosValidate(); if (TrajectoryConstraints is null) { throw new System.NullReferenceException(nameof(TrajectoryConstraints)); } TrajectoryConstraints.RosValidate(); if (PlannerId is null) { throw new System.NullReferenceException(nameof(PlannerId)); } if (GroupName is null) { throw new System.NullReferenceException(nameof(GroupName)); } }