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Populate Range Constraints in Parameter Descriptors from Validation F…
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2023 Picknik Robotics | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions are met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // | ||
| // * Redistributions in binary form must reproduce the above copyright | ||
| // notice, this list of conditions and the following disclaimer in the | ||
| // documentation and/or other materials provided with the distribution. | ||
| // | ||
| // * Neither the name of the PickNik Inc. nor the names of its | ||
| // contributors may be used to endorse or promote products derived from | ||
| // this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
| // | ||
| // Author: Chance Cardona | ||
| // | ||
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| #include "admittance_controller_parameters.hpp" | ||
| #include "gtest/gtest.h" | ||
| #include "rclcpp/rclcpp.hpp" | ||
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| #include <limits> | ||
| #include <memory> | ||
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| class DescriptorTest : public ::testing::Test { | ||
| public: | ||
| void SetUp() { | ||
| example_test_node_ = std::make_shared<rclcpp::Node>("example_test_node"); | ||
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| std::shared_ptr<admittance_controller::ParamListener> param_listener = | ||
| 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"}; | ||
| descriptors_ = example_test_node_->describe_parameters(names); | ||
| } | ||
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| void TearDown() { example_test_node_.reset(); } | ||
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| protected: | ||
| std::shared_ptr<rclcpp::Node> example_test_node_; | ||
| admittance_controller::Params params_; | ||
| std::vector<rcl_interfaces::msg::ParameterDescriptor> descriptors_; | ||
| }; | ||
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| // Checks element_bounds<> on a float | ||
| TEST_F(DescriptorTest, check_floating_point_descriptors) { | ||
| EXPECT_EQ(descriptors_[0].floating_point_range.at(0).from_value, 0.1); | ||
| EXPECT_EQ(descriptors_[0].floating_point_range.at(0).to_value, 10); | ||
| } | ||
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| // Checks bounds<> on an int | ||
| TEST_F(DescriptorTest, check_integer_descriptors) { | ||
| EXPECT_EQ(descriptors_[1].integer_range.at(0).from_value, 1024); | ||
| EXPECT_EQ(descriptors_[1].integer_range.at(0).to_value, 65535); | ||
| } | ||
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| 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()); | ||
| } | ||
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| TEST_F(DescriptorTest, check_lt_eq) { | ||
| EXPECT_EQ(descriptors_[3].integer_range.at(0).from_value, | ||
| std::numeric_limits<int>::lowest()); | ||
| EXPECT_EQ(descriptors_[3].integer_range.at(0).to_value, 15); | ||
| } | ||
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| TEST_F(DescriptorTest, check_gt) { | ||
| EXPECT_EQ(descriptors_[4].integer_range.at(0).from_value, 15); | ||
| EXPECT_EQ(descriptors_[4].integer_range.at(0).to_value, | ||
| std::numeric_limits<int>::max()); | ||
| } | ||
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| int main(int argc, char** argv) { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| rclcpp::init(argc, argv); | ||
| int result = RUN_ALL_TESTS(); | ||
| rclcpp::shutdown(); | ||
| return result; | ||
| } |
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...e_parameter_library_py/generate_parameter_library_py/test/validation_only_parameters.yaml
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| admittance_controller: | ||
| stiffness: { | ||
| type: double_array, | ||
| description: "specifies stiffness values for x, y, z, rx, ry, and rz used in the admittance calculation", | ||
| validation: { | ||
| element_bounds: [ 0.0001, 100000.0 ] | ||
| } | ||
| } | ||
| dankness: { | ||
| type: int_array, | ||
| description: "specifies stiffness values for x, y, z, rx, ry, and rz used in the admittance calculation", | ||
| validation: { | ||
| element_bounds: [ 1, 100 ] | ||
| } | ||
| } | ||
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| mass: { | ||
| type: double_array, | ||
| description: "specifies mass values for x, y, z, rx, ry, and rz used in the admittance calculation", | ||
| validation: { | ||
| fixed_size<>: 6, | ||
| element_bounds<>: [ 0.0001, 1000000.0 ] | ||
| } | ||
| } | ||
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| one_number: { | ||
| type: int, | ||
| default_value: 14540, | ||
| read_only: true, | ||
| validation: { | ||
| bounds<>: [ 1024, 65535 ] | ||
| } | ||
| } | ||
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| p: { | ||
| type: double, | ||
| default_value: 1.0, | ||
| description: "proportional gain term", | ||
| validation: { | ||
| lower_bounds<>: [ 0 ], | ||
| } | ||
| } | ||
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| p2: { | ||
| type: double, | ||
| default_value: 1.0, | ||
| description: "proportional gain term updated", | ||
| validation: { | ||
| gt_eq: [ 0.0001 ], | ||
| } | ||
| } | ||
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| under_ten: { | ||
| type: double, | ||
| default_value: 1.0, | ||
| description: "should be a number less than 10", | ||
| validation: { | ||
| upper_bounds<>: [ 10 ], | ||
| } | ||
| } | ||
| lt_eq_fifteen: { | ||
| type: int, | ||
| default_value: 1, | ||
| description: "should be a number less than or equal to 15", | ||
| validation: { | ||
| lt_eq<>: [ 15 ], | ||
| } | ||
| } | ||
| gt_fifteen: { | ||
| type: int, | ||
| default_value: 16, | ||
| description: "should be a number greater than 15", | ||
| validation: { | ||
| gt<>: [ 15 ], | ||
| } | ||
| } | ||
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| # general settings | ||
| enable_parameter_update_without_reactivation: { | ||
| type: bool, | ||
| default_value: true, | ||
| description: "if enabled, read_only parameters will be dynamically updated in the control loop" | ||
| } | ||
| use_feedforward_commanded_input: { | ||
| type: bool, | ||
| default_value: false, | ||
| description: "if enabled, the velocity commanded to the admittance controller is added to its calculated admittance velocity" | ||
| } |