From 05d76f6def6d1cbe49c7523ea52c4706299e09a9 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Tue, 9 Aug 2016 16:14:26 +0200
Subject: [PATCH] adding option to canonicalize polytope generators in api
---
include/robust-equilibrium-lib/static_equilibrium.hh | 6 +++++-
src/static_equilibrium.cpp | 5 +++--
2 files changed, 8 insertions(+), 3 deletions(-)
diff --git a/include/robust-equilibrium-lib/static_equilibrium.hh b/include/robust-equilibrium-lib/static_equilibrium.hh
index 04c7629..a30dea6 100644
--- a/include/robust-equilibrium-lib/static_equilibrium.hh
+++ b/include/robust-equilibrium-lib/static_equilibrium.hh
@@ -50,6 +50,8 @@ private:
* indicate the max number of attempts to compute the cone by introducing
* a small pertubation of the system */
const unsigned max_num_cdd_trials;
+ /** whether to remove redundant inequalities when computing double description matrices*/
+ const bool canonicalize_cdd_matrix;
/** Inequality matrix and vector defining the CoM support polygon HD com + Hd <= h */
MatrixX3 m_HD;
@@ -88,10 +90,12 @@ public:
* @param solver_type Type of LP solver to use.
* @param useWarmStart Whether the LP solver can warm start the resolution.
* @param max_num_cdd_trials indicate the max number of attempts to compute the cone by introducing
+ * @param canonicalize_cdd_matrix whether to remove redundant inequalities when computing double description matrices
* a small pertubation of the system
*/
StaticEquilibrium(std::string name, double mass, unsigned int generatorsPerContact,
- SolverLP solver_type, bool useWarmStart=true, const unsigned int max_num_cdd_trials=0);
+ SolverLP solver_type, bool useWarmStart=true, const unsigned int max_num_cdd_trials=0,
+ const bool canonicalize_cdd_matrix=false);
/**
* @brief Returns the useWarmStart flag.
diff --git a/src/static_equilibrium.cpp b/src/static_equilibrium.cpp
index 635593b..3337f40 100644
--- a/src/static_equilibrium.cpp
+++ b/src/static_equilibrium.cpp
@@ -19,9 +19,10 @@ bool StaticEquilibrium::m_is_cdd_initialized = false;
StaticEquilibrium::StaticEquilibrium(string name, double mass, unsigned int generatorsPerContact,
SolverLP solver_type, bool useWarmStart,
- const unsigned int max_num_cdd_trials)
+ const unsigned int max_num_cdd_trials, const bool canonicalize_cdd_matrix)
: m_is_cdd_stable(true)
, max_num_cdd_trials(max_num_cdd_trials)
+ , canonicalize_cdd_matrix(canonicalize_cdd_matrix)
{
if(!m_is_cdd_initialized)
{
@@ -495,7 +496,7 @@ LP_status StaticEquilibrium::findExtremumInDirection(Cref_vector3 direction, Ref
bool StaticEquilibrium::computePolytopeProjection(Cref_matrix6X v)
{
// getProfiler().start("eigen_to_cdd");
- dd_MatrixPtr V = cone_span_eigen_to_cdd(v.transpose());
+ dd_MatrixPtr V = cone_span_eigen_to_cdd(v.transpose(),canonicalize_cdd_matrix);
// getProfiler().stop("eigen_to_cdd");
dd_ErrorType error = dd_NoError;
--
GitLab