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Fix ParameterDescription of exclusive bounds #339

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Fix ParameterDescription of exclusive bounds #339

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6b96a63
Fix ParameterDescription of exclusive bounds
christophfroehlich Apr 7, 2026
b27047b
Fix test expectation
christophfroehlich Apr 8, 2026
dda4b5a
Merge branch 'main' into fix/description/exclusive-bounds
christophfroehlich Apr 12, 2026
55b36ff
Merge branch 'main' into fix/description/exclusive-bounds
christophfroehlich Apr 17, 2026
4458200
Use std::nextafter instead
christophfroehlich Apr 18, 2026
f65b844
Merge branch 'main' into fix/description/exclusive-bounds
christophfroehlich Apr 24, 2026
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26 changes: 26 additions & 0 deletions example/src/parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -284,6 +284,32 @@ admittance_controller:
validation:
gt<>: [ 15 ]
lt<>: [ 20 ]
lt_eq_fifteen_double:
type: double
default_value: 1
description: "should be a number less than or equal to 15"
validation:
lt_eq<>: [ 15 ]
gt_fifteen_double:
type: double
default_value: 16
description: "should be a number greater than 15"
validation:
gt<>: [ 15 ]
gt_fifteen_lt_eq_twenty_double:
type: double
default_value: 20
description: "should be a number greater than 15 and less than or equal to 20"
validation:
gt<>: [ 15 ]
lt_eq<>: [ 20 ]
gt_fifteen_lt_twenty_double:
type: double
default_value: 16
description: "should be a number greater than 15 and less than 20"
validation:
gt<>: [ 15 ]
lt<>: [ 20 ]
one_number:
type: int
default_value: 14540
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2 changes: 1 addition & 1 deletion example/test/descriptor_test_gtest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ TEST_F(DescriptorTest, check_lt_eq) {
}

TEST_F(DescriptorTest, check_gt) {
EXPECT_EQ(descriptors_[4].integer_range.at(0).from_value, 15);
EXPECT_EQ(descriptors_[4].integer_range.at(0).from_value, 16);
EXPECT_EQ(descriptors_[4].integer_range.at(0).to_value,
std::numeric_limits<int64_t>::max());
}
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26 changes: 26 additions & 0 deletions example_python/generate_parameter_module_example/parameters.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -287,6 +287,32 @@ admittance_controller:
validation:
gt<>: [ 15 ]
lt<>: [ 20 ]
lt_eq_fifteen_double:
type: double
default_value: 1
description: "should be a number less than or equal to 15"
validation:
lt_eq<>: [ 15 ]
gt_fifteen_double:
type: double
default_value: 16
description: "should be a number greater than 15"
validation:
gt<>: [ 15 ]
gt_fifteen_lt_eq_twenty_double:
type: double
default_value: 20
description: "should be a number greater than 15 and less than or equal to 20"
validation:
gt<>: [ 15 ]
lt_eq<>: [ 20 ]
gt_fifteen_lt_twenty_double:
type: double
default_value: 16
description: "should be a number greater than 15 and less than 20"
validation:
gt<>: [ 15 ]
lt<>: [ 20 ]
one_number:
type: int
default_value: 14540
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16 changes: 12 additions & 4 deletions ..._parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_parameter
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Original file line number Diff line number Diff line change
Expand Up @@ -12,10 +12,14 @@ descriptor.additional_constraints = {{parameter_additional_constraints | valid_s
{%- if validation.arguments|length == 2 %}
{%- set range.lower = validation.arguments[0] %}
{%- set range.upper = validation.arguments[1] %}
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif ("lower" in validation.function_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.lower = validation.arguments[0] %}
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif "gt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.lower = "std::nextafter({}, std::numeric_limits<double>::infinity())".format(validation.arguments[0]) %}
{%- elif ("upper" in validation.function_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.upper = validation.arguments[0] %}
{%- elif "lt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.upper = "std::nextafter({}, -std::numeric_limits<double>::infinity())".format(validation.arguments[0]) %}
{%- endif %}
{%- endfor %}
{%- if range.lower is not none or range.upper is not none %}
Expand All @@ -29,10 +33,14 @@ descriptor.floating_point_range.at(0).to_value = {{range.upper if range.upper is
{%- if validation.arguments|length == 2 %}
{%- set range.lower = validation.arguments[0] %}
{%- set range.upper = validation.arguments[1] %}
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif ("lower" in validation.function_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.lower = validation.arguments[0] %}
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif "gt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.lower = "({} + 1)".format(validation.arguments[0]) %}
{%- elif ("upper" in validation.function_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.upper = validation.arguments[0] %}
{%- elif "lt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.upper = "({} - 1)".format(validation.arguments[0]) %}
{%- endif %}
{%- endfor %}
{%- if range.lower is not none or range.upper is not none %}
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16 changes: 12 additions & 4 deletions ...er_library_py/generate_parameter_library_py/jinja_templates/cpp/declare_runtime_parameter
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Original file line number Diff line number Diff line change
Expand Up @@ -28,10 +28,14 @@ descriptor.additional_constraints = {{parameter_additional_constraints | valid_s
{%- if validation.arguments|length == 2 %}
{%- set range.lower = validation.arguments[0] %}
{%- set range.upper = validation.arguments[1] %}
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif ("lower" in validation.function_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.lower = validation.arguments[0] %}
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif "gt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.lower = "std::nextafter({}, std::numeric_limits<double>::infinity())".format(validation.arguments[0]) %}
{%- elif ("upper" in validation.function_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.upper = validation.arguments[0] %}
{%- elif "lt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.upper = "std::nextafter({}, -std::numeric_limits<double>::infinity())".format(validation.arguments[0]) %}
{%- endif %}
{%- endfor %}
{%- if range.lower is not none or range.upper is not none %}
Expand All @@ -45,10 +49,14 @@ descriptor.floating_point_range.at(0).to_value = {{range.upper if range.upper is
{%- if validation.arguments|length == 2 %}
{%- set range.lower = validation.arguments[0] %}
{%- set range.upper = validation.arguments[1] %}
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif ("lower" in validation.function_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.lower = validation.arguments[0] %}
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif "gt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.lower = "({} + 1)".format(validation.arguments[0]) %}
{%- elif ("upper" in validation.function_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.upper = validation.arguments[0] %}
{%- elif "lt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.upper = "({} - 1)".format(validation.arguments[0]) %}
{%- endif %}
{%- endfor %}
{%- if range.lower is not none or range.upper is not none %}
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16 changes: 12 additions & 4 deletions ...rameter_library_py/generate_parameter_library_py/jinja_templates/python/declare_parameter
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Original file line number Diff line number Diff line change
Expand Up @@ -10,10 +10,14 @@ descriptor.additional_constraints = "{{parameter_additional_constraints|valid_st
{%- if validation.arguments|length == 2 %}
{%- set range.lower = validation.arguments[0] %}
{%- set range.upper = validation.arguments[1] %}
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif ("lower" in validation.function_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.lower = validation.arguments[0] %}
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif "gt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.lower = "({} + sys.float_info.epsilon)".format(validation.arguments[0]) %}
{%- elif ("upper" in validation.function_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.upper = validation.arguments[0] %}
{%- elif "lt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.upper = "({} - sys.float_info.epsilon)".format(validation.arguments[0]) %}
{%- endif %}
{%- endfor %}
{%- if range.lower is not none or range.upper is not none %}
Expand All @@ -27,10 +31,14 @@ descriptor.floating_point_range[-1].to_value = {{range.upper if range.upper is n
{%- if validation.arguments|length == 2 %}
{%- set range.lower = validation.arguments[0] %}
{%- set range.upper = validation.arguments[1] %}
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif ("lower" in validation.function_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.lower = validation.arguments[0] %}
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif "gt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.lower = "({} + 1)".format(validation.arguments[0]) %}
{%- elif ("upper" in validation.function_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.upper = validation.arguments[0] %}
{%- elif "lt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.upper = "({} - 1)".format(validation.arguments[0]) %}
{%- endif %}
{%- endfor %}
{%- if range.lower is not none or range.upper is not none %}
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16 changes: 12 additions & 4 deletions ...library_py/generate_parameter_library_py/jinja_templates/python/declare_runtime_parameter
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Original file line number Diff line number Diff line change
Expand Up @@ -25,10 +25,14 @@ descriptor.additional_constraints = "{{parameter_additional_constraints|valid_st
{%- if validation.arguments|length == 2 %}
{%- set range.lower = validation.arguments[0] %}
{%- set range.upper = validation.arguments[1] %}
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif ("lower" in validation.function_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.lower = validation.arguments[0] %}
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif "gt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.lower = "({} + sys.float_info.epsilon)".format(validation.arguments[0]) %}
{%- elif ("upper" in validation.function_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.upper = validation.arguments[0] %}
{%- elif "lt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.upper = "({} - sys.float_info.epsilon)".format(validation.arguments[0]) %}
{%- endif %}
{%- endfor %}
{%- if range.lower is not none or range.upper is not none %}
Expand All @@ -42,10 +46,14 @@ descriptor.floating_point_range[-1].to_value = {{range.upper if range.upper is n
{%- if validation.arguments|length == 2 %}
{%- set range.lower = validation.arguments[0] %}
{%- set range.upper = validation.arguments[1] %}
{%- elif ("lower" in validation.function_name or "gt" == validation.function_base_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif ("lower" in validation.function_name or "gt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.lower = validation.arguments[0] %}
{%- elif ("upper" in validation.function_name or "lt" == validation.function_base_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- elif "gt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.lower = "({} + 1)".format(validation.arguments[0]) %}
{%- elif ("upper" in validation.function_name or "lt_eq" == validation.function_base_name) and validation.arguments|length == 1 %}
{%- set range.upper = validation.arguments[0] %}
{%- elif "lt" == validation.function_base_name and validation.arguments|length == 1 %}
{%- set range.upper = "({} - 1)".format(validation.arguments[0]) %}
{%- endif %}
{%- endfor %}
{%- if range.lower is not none or range.upper is not none %}
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1 change: 1 addition & 0 deletions ..._library_py/generate_parameter_library_py/jinja_templates/python/parameter_library_header
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Expand Up @@ -9,6 +9,7 @@ from rclpy.clock import Clock
from rclpy.exceptions import InvalidParameterValueException
from rclpy.time import Time
import copy
import sys
import rclpy
import rclpy.parameter
from generate_parameter_library_py.python_validators import ParameterValidators
Expand Down