Method validateAndConvert

js/poseParser.js:301–394

* Validate and convert parsed data to [T, 4, 4] format * @param {Array} data * @param {string} format * @returns {Object} - { valid: boolean, data: Array, error: string|null }

(data, format)

     * @returns {Object} - { valid: boolean, data: Array, error: string|null }
     */
    static validateAndConvert(data, format) {
        if (!Array.isArray(data)) {
            return { valid: false, error: 'Input must be an array' };
        }
        
        if (data.length === 0) {
            return { valid: false, error: 'Array is empty' };
        }

        const convertedData = [];

        // Check each pose based on format
        for (let i = 0; i < data.length; i++) {
            const pose = data[i];
            
            if (!Array.isArray(pose)) {
                return { valid: false, error: `Pose at index ${i} is not an array` };
            }

            if (format === 'matrix') {
                // Expect [4, 4]
                if (pose.length !== 4) {
                    return { valid: false, error: `Pose at index ${i} should have 4 rows, got ${pose.length}` };
                }
                
                for (let j = 0; j < 4; j++) {
                    if (!Array.isArray(pose[j])) {
                        return { valid: false, error: `Row ${j} of pose ${i} is not an array` };
                    }
                    if (pose[j].length !== 4) {
                        return { valid: false, error: `Row ${j} of pose ${i} should have 4 columns, got ${pose[j].length}` };
                    }
                    for (let k = 0; k < 4; k++) {
                        if (typeof pose[j][k] !== 'number' || isNaN(pose[j][k])) {
                            return { valid: false, error: `Element [${j}][${k}] of pose ${i} is not a valid number` };
                        }
                    }
                }
                convertedData.push(pose);

            } else if (format === 'xyz_quat_wxyz' || format === 'xyz_quat_xyzw' || format === 'quat_wxyz_xyz') {
                // Expect [7] (x, y, z, q1, q2, q3, q4)
                if (pose.length !== 7) {
                    return { valid: false, error: `Pose at index ${i} should have 7 elements, got ${pose.length}` };
                }

                for (let k = 0; k < 7; k++) {
                    if (typeof pose[k] !== 'number' || isNaN(pose[k])) {
                        return { valid: false, error: `Element ${k} of pose ${i} is not a valid number` };
                    }
                }

                // Convert to 4x4 matrix
                let x, y, z, qw, qx, qy, qz;
                
                if (format === 'quat_wxyz_xyz') {
                    // qw, qx, qy, qz, x, y, z
                    qw = pose[0];