custom_validators.hpp

// Copyright 2024 AIT - Austrian Institute of Technology GmbH
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef CONTROL_FILTERS__CUSTOM_VALIDATORS_HPP_
#define CONTROL_FILTERS__CUSTOM_VALIDATORS_HPP_
 
#include <fmt/core.h>
 
#include <string>
 
#include <rclcpp/rclcpp.hpp>
#include <rsl/parameter_validators.hpp>
#include <tl_expected/expected.hpp>
 
namespace control_filters {
 
template <typename T>
tl::expected<void, std::string> gt_eq_or_nan(
    rclcpp::Parameter const& parameter, T expected_value) {
  auto param_value = parameter.as_double();
  if (!std::isnan(param_value)) {
    // check only if the value is not NaN
    return rsl::gt_eq<T>(parameter, expected_value);
  }
  return {};
}
 
template <typename T>
tl::expected<void, std::string> lt_eq_or_nan(
    rclcpp::Parameter const& parameter, T expected_value) {
  auto param_value = parameter.as_double();
  if (!std::isnan(param_value)) {
    // check only if the value is not NaN
    return rsl::lt_eq<T>(parameter, expected_value);
  }
  return {};
}
 
}  // namespace control_filters
 
#endif  // CONTROL_FILTERS__CUSTOM_VALIDATORS_HPP_