Return positive infinity instead of -1 for boundless positive values #249
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Revived from bitbucket PR 458 per #230. Tests are still needed.
Original description:
SDFormat has a convention of using -1 to represent positive infinity. If users of the DOM API are not careful and cognizant of this convention, it can result in confusing bugs that are hard to track down. My dartsim plugin was exhibiting subtle non-physical behavior after loading structures from SDF, because it had effort and velocity limits of +1 (minimum) and -1 (maximum).
This PR is a suggested tweak to the API behavior so that the API returns positive infinity instead of -1 to represent boundlessly positive values. Hopefully this might save other SDF users from long, confusing debugging sessions.
However, this does deviate from the exact convention of the SDF document specification, so I’d understand if this PR is declined.