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Change default max of floating point to infinity from max #169

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Change default max of floating point to infinity from max #169

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7b5d709
Change default max of floating point to infinity from max
griswaldbrooks Jan 13, 2024
90bf157
Fix formatting
griswaldbrooks Jan 13, 2024
86cbc3a
Merge branch 'main' into floating-point-infinity
christophfroehlich Nov 22, 2024
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8 changes: 8 additions & 0 deletions example/src/parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -233,6 +233,14 @@ admittance_controller:
description: "should be a number greater than 15"
validation:
gt<>: [ 15 ]
default_infinity: {
type: double,
default_value: .inf,
description: "should be a number greater than zero, which should include infinity",
validation: {
gt_eq<>: [ 0 ],
}
}
one_number:
type: int
default_value: 14540
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17 changes: 13 additions & 4 deletions example/test/descriptor_test_gtest.cpp
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Expand Up @@ -45,9 +45,12 @@ class DescriptorTest : public ::testing::Test {
std::make_shared<admittance_controller::ParamListener>(
example_test_node_->get_node_parameters_interface());
params_ = param_listener->get_params();
std::vector<std::string> names = {"admittance.damping_ratio", "one_number",
"pid.joint4.p", "lt_eq_fifteen",
"gt_fifteen"};
std::vector<std::string> names = {"admittance.damping_ratio",
"one_number",
"pid.joint4.p",
"lt_eq_fifteen",
"gt_fifteen",
"default_infinity"};
descriptors_ = example_test_node_->describe_parameters(names);
}

Expand All @@ -74,7 +77,7 @@ TEST_F(DescriptorTest, check_integer_descriptors) {
TEST_F(DescriptorTest, check_lower_upper_bounds) {
EXPECT_EQ(descriptors_[2].floating_point_range.at(0).from_value, 0.0001);
EXPECT_EQ(descriptors_[2].floating_point_range.at(0).to_value,
std::numeric_limits<double>::max());
std::numeric_limits<double>::infinity());
}

TEST_F(DescriptorTest, check_lt_eq) {
Expand All @@ -89,6 +92,12 @@ TEST_F(DescriptorTest, check_gt) {
std::numeric_limits<int64_t>::max());
}

TEST_F(DescriptorTest, default_infinity) {
EXPECT_EQ(descriptors_[5].floating_point_range.at(0).from_value, 0.0);
EXPECT_EQ(descriptors_[5].floating_point_range.at(0).to_value,
std::numeric_limits<double>::infinity());
}

int main(int argc, char** argv) {
::testing::InitGoogleTest(&argc, argv);
rclcpp::init(argc, argv);
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2 changes: 1 addition & 1 deletion ..._parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_parameter
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Expand Up @@ -15,7 +15,7 @@ descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.argu
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
descriptor.floating_point_range.resize({{loop.index}});
descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
descriptor.floating_point_range.at({{loop.index0}}).to_value = std::numeric_limits<double>::max();
descriptor.floating_point_range.at({{loop.index0}}).to_value = std::numeric_limits<double>::infinity();
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
descriptor.floating_point_range.resize({{loop.index}});
descriptor.floating_point_range.at({{loop.index0}}).from_value = std::numeric_limits<double>::lowest();
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2 changes: 1 addition & 1 deletion ...er_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter
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Expand Up @@ -31,7 +31,7 @@ descriptor.floating_point_range.at({{loop.index0}}).to_value = {{validation.argu
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
descriptor.floating_point_range.resize({{loop.index}});
descriptor.floating_point_range.at({{loop.index0}}).from_value = {{validation.arguments[0]}};
descriptor.floating_point_range.at({{loop.index0}}).to_value = std::numeric_limits<double>::max();
descriptor.floating_point_range.at({{loop.index0}}).to_value = std::numeric_limits<double>::infinity();
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
descriptor.floating_point_range.resize({{loop.index}});
descriptor.floating_point_range.at({{loop.index0}}).from_value = std::numeric_limits<double>::lowest();
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