Return positive infinity instead of -1 for boundless positive values #357
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@mxgrey if you want to amend with a |
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@@ Coverage Diff @@
## sdf10 #357 +/- ##
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Coverage 87.32% 87.33%
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Files 60 60
Lines 9216 9220 +4
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+ Hits 8048 8052 +4
Misses 1168 1168
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@osrf-jenkins run tests please |
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@osrf-jenkins run tests please |
chapulina
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Sep 10, 2020
Add example file with default, finite and infinite joint limit values, using both "inf" and "-1" to specify infinite values of the effort and velocity limit. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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I think this doesn't require any downstream changes in ion-physics, since it is already using a similar conversion: |
azeey
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Dec 9, 2020
…azebosim#357) SDFormat has a convention of using -1 to represent positive infinity for symmetric joint limits on velocity and effort. If users of the DOM API are not careful and cognizant of this convention, it can result in confusing bugs that are hard to track down. This PR changes the API behavior so that the API returns positive infinity instead of -1 to represent boundlessly positive values. Hopefully this might save other SDF users from long, confusing debugging sessions. A test is added with an example file with default, finite and infinite joint limit values, using both "inf" and "-1" to specify infinite values of the effort and velocity limit. Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Michael X. Grey <grey@openrobotics.org>
brawner
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Dec 11, 2020
…357) SDFormat has a convention of using -1 to represent positive infinity for symmetric joint limits on velocity and effort. If users of the DOM API are not careful and cognizant of this convention, it can result in confusing bugs that are hard to track down. This PR changes the API behavior so that the API returns positive infinity instead of -1 to represent boundlessly positive values. Hopefully this might save other SDF users from long, confusing debugging sessions. A test is added with an example file with default, finite and infinite joint limit values, using both "inf" and "-1" to specify infinite values of the effort and velocity limit. Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Michael X. Grey <grey@openrobotics.org>
brawner
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Jan 9, 2021
…357) SDFormat has a convention of using -1 to represent positive infinity for symmetric joint limits on velocity and effort. If users of the DOM API are not careful and cognizant of this convention, it can result in confusing bugs that are hard to track down. This PR changes the API behavior so that the API returns positive infinity instead of -1 to represent boundlessly positive values. Hopefully this might save other SDF users from long, confusing debugging sessions. A test is added with an example file with default, finite and infinite joint limit values, using both "inf" and "-1" to specify infinite values of the effort and velocity limit. Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Michael X. Grey <grey@openrobotics.org>
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sdf10, this is a resubmission of #249, which itself was a revival of bitbucket PR 458 per #231. I've added tests in 148d782. cc @mxgreyOriginal description:
SDFormat has a convention of using -1 to represent positive infinity. If users of the DOM API are not careful and cognizant of this convention, it can result in confusing bugs that are hard to track down. My dartsim plugin was exhibiting subtle non-physical behavior after loading structures from SDF, because it had effort and velocity limits of +1 (minimum) and -1 (maximum).
This PR is a suggested tweak to the API behavior so that the API returns positive infinity instead of -1 to represent boundlessly positive values. Hopefully this might save other SDF users from long, confusing debugging sessions.
However, this does deviate from the exact convention of the SDF document specification, so I’d understand if this PR is declined.