// public FieldLimiter (T value)
// {
// return limit ( value );
// }
public void init (NodeHandle nh, string field = "")
{
float fmin = float.NegativeInfinity;
float fmax = float.PositiveInfinity;
double dmin = double.NegativeInfinity;
double dmax = double.PositiveInfinity;
bool isDouble = typeof (T) == typeof (double);
string prefix = !string.IsNullOrEmpty ( field ) ? field + "/" : "";
if ( nh.hasParam ( prefix + "max" ) || nh.hasParam ( prefix + "min" ) )
{
object posinf = isDouble ? dmax : fmax;
object neginf = isDouble ? dmin : fmin;
nh.param<T> ( prefix + "max", ref max_, (T) posinf );
nh.param<T> ( prefix + "min", ref min_, (T) neginf );
// nh.param<T>(prefix + "max", ref max_, numeric_limits<T>::infinity());
// nh.param<T>(prefix + "min", ref min_, -max_);
ROS.Info ("Limits " + nh.getNamespace () + "/" + field + " initialized " + field + " with min " + min_ + " and max " + max_);
}
}
