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Add test for infinite value in float range bound #3218

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Add test for infinite value in float range bound #3218

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21 changes: 21 additions & 0 deletions rclcpp/test/rclcpp/test_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1752,6 +1752,27 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, nan)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<double>(), 50.0);
}
{
// setting a parameter to non-finite values with floating point range descriptor
auto name = "parameter"_unq;
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.floating_point_range.resize(1);
auto & floating_point_range = descriptor.floating_point_range.at(0);
constexpr double inf = std::numeric_limits<double>::infinity();
constexpr double nan = std::numeric_limits<double>::quiet_NaN();
floating_point_range.from_value = 0.0;
floating_point_range.to_value = inf;
floating_point_range.step = 0.0;
node->declare_parameter(name, 50.0, descriptor);
EXPECT_EQ(node->get_parameter(name).get_value<double>(), 50.0);

EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name, inf)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<double>(), inf);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, -inf)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<double>(), inf);
EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, nan)).successful);
EXPECT_EQ(node->get_parameter(name).get_value<double>(), inf);
}
{
// setting an array parameter with floating point range descriptor
auto name = "parameter"_unq;
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